Ecosyste.ms: Awesome

An open API service indexing awesome lists of open source software.

Awesome Lists | Featured Topics | Projects

https://github.com/ani717/ros2_camera_publish

ROS 2 Package to Publish Camera Image as sensor_msgs/Image message. Compatible with Raspberry Pi 64 Bit OS. ROS cv_bridge package is not required.
https://github.com/ani717/ros2_camera_publish

64-bit camera opencv python3 raspberry-pi raspberry-pi-4 raspberry-pi-camera raspbian-buster ros-dashing ros2

Last synced: about 1 month ago
JSON representation

ROS 2 Package to Publish Camera Image as sensor_msgs/Image message. Compatible with Raspberry Pi 64 Bit OS. ROS cv_bridge package is not required.

Awesome Lists containing this project

README

        


ROS 2 Camera Image Publish Package

ROS 2 Package to Publish Camera Image as sensor_msgs/Image message. Compatible with Raspberry Pi 64 Bit OS. ROS cv_bridge package is not required. Only depends on OpenCV Python 3.

## Colaborators
[Computer Fusion Laboratory (CFL) - Temple University College of Engineering](https://sites.temple.edu/cflab/people/)
* [Animesh Bala Ani](https://animeshani.com/)
* [Dr. Li Bai](https://engineering.temple.edu/about/faculty-staff/li-bai-lbai)

## Setup Raspberry Pi 64 Bit (RaspiOS arm64)
Follow instructions from https://github.com/ANI717/headless_raspberrypi_setup

## Setup ROS 2 Dashing from Source
Follow instructions from https://github.com/ANI717/ros2_raspberrypi64

## Dependency
GLobal Modules (Can be installed globally with PIP)
```
OpenCV
NumPy
Json
```
ROS Modules (Comes with ROS 2 installation)
```
rclpy
sensor_msgs
ament_index_python.packages
```

## Install OpenCV
```
sudo apt update
sudo apt-get install python3-opencv
```

## Parameter Settings
Edit *settings.json* file to set the parameters.
```
device_index: 0
(Camera Device Index for OpenCV Videocapture. This is useful while working with multiple cameras.)

topic: "racecar/camera" (topic name)

queue_size: 1 (amount of queued messages)

period: 0.1 (execution time)
```

## Install and Run Package
```
git clone https://github.com/ANI717/ros2_camera_publish
colcon build && . install/setup.bash && ros2 run ros2_camera_publish execute
```