This package contains own coding for raspberry pi camera and usb camera. It also has some launch files to use intelrealsense cameras connected via USB.
To install intelrealsense libraries check this
Using ROS2 (picam and usb cam)
# Pick the one you want to launch
ros2 launch ros2_camera picam.launch.py
ros2 launch ros2_camera usb_cam.launch.pyThese launch files run the camera streaming and the compression of the images.
ros2 launch ros2_camera calibrate_cam.launch.pyThis launch file runs the camera and the calibration module
Using ROS2 (intel realsense launch files connected to realsense-ros package)
ros2 launch ros2_camera intel_multicam.launch.pyUsing Direct Streaming (bash files)
# Pick the one you want to stream
bash/intel_D435.sh
bash/picam_stream.shUsing these bash files is it possible to stream the camera using your ip adress.
- gstreamer -> https://gstreamer.freedesktop.org/download/
v4l-utils to access the camera:
sudo apt install v4l-utilsTo calibrate:
git clone -b ros2 https://github.com/ros-perception/image_pipelineIn order to make the camera work a configuration file it's needed. First time, this configuration should be any configuration but the camera name must be okay. To know the camera name:
v4l2-ctl --allThe name is the one at Driver name attribute.
Modify the name using parameter inside file os2_camera/param/video.yaml . You can also modify the path, the default one is the one located at ~/.ros/camera_info/<yaml_file>
To compress images:
sudo apt-get install ros-foxy-image-transport-plugins
image_transportonly supports raw transport by default and needs additional plugins to provide compression.
https://gitlab.com/boldhearts/ros2_v4l2_camera
https://github.com/klintan/ros2_usb_camera
https://github.com/ros-perception/vision_opencv/tree/ros2
https://navigation.ros.org/tutorials/docs/camera_calibration.html
https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md