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
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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.

• Host: GitHub
• URL: https://github.com/ani717/ros2_camera_publish
• Owner: ANI717
• License: mit
• Created: 2021-03-25T08:25:05.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2021-04-01T18:18:01.000Z (over 3 years ago)
• Last Synced: 2024-09-29T00:40:54.200Z (about 2 months ago)
• Topics: 64-bit, camera, opencv, python3, raspberry-pi, raspberry-pi-4, raspberry-pi-camera, raspbian-buster, ros-dashing, ros2
• Language: Python
• Homepage:
• Size: 40 KB
• Stars: 13
• Watchers: 1
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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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

```