royyandzakiy/ws_ros2_opencv

ROS 2 Learning: Interfacing Camera with OpenCV & ROS PubSub

Implementing the code from a tutorial made by Aleksander Haber

source: Interface and Use Camera in ROS2 (Iron Irwini) and OpenCV - Write Publisher and Subscriber Nodes

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Getting Started

• git clone https://github.com/royyandzakiy/ws_ros2_opencv clone repository

Node #1: Image Capture & Publish

• this will act as a node to capture image from the chosen camera or video device
• the captured image then be converted to ROS imgmsg type
• it then gets published to the topic camera_image_topic

• cd ws_ros2_opencv
• source /opt/ros/iron/setup.bash setup underlay environment of ros2 iron irwini
• source install/setup.bash setup overlay environment unique to the project ws_ros2_opencv
• colcon build
• ros2 run ros2_opencv image_publisher_node run node

  explanation: ros2_opencv is the package name registered in package.xml. image_publisher_node is a node defined in src/ros2_opencv/setup.py, which is then registered using the command colcon build

Node #2: Image Subcribe

• this will act as a node to receive sent images from the image_publisher_node
• it recieves images by subcribing to the topic camera_image_topic

• open a new terminal
• cd ws_ros2_opencv
• source /opt/ros/iron/setup.bash
• source install/setup.bash
• ros2 run ros2_opencv image_subscriber_node run node

  explanation: image_subscriber_node is a node defined in src/ros2_opencv/setup.py