Add a ros2 node for the camera (Pi HQ camera + 6mm lens). The camera node should publish the video feed on the /camera topic in real time. We intend to use the video in the robot control panel, to save images during the robot's operations, and perhaps for VSLAM.
The integration would be probably best done with OpenCV (cv::VideoCapture). After adding OpenCV to the project, finding the camera's device id, and translating the native format into OpenCV's cv::Mat the structure could probably be published directly on the topic. There are some ros2/c/c++ specific packages, but since we'll likely be using OpenCV anyway, it wouldn't hurt to use it from the very start.
Add a ros2 node for the camera (Pi HQ camera + 6mm lens). The camera node should publish the video feed on the /camera topic in real time. We intend to use the video in the robot control panel, to save images during the robot's operations, and perhaps for VSLAM.
The integration would be probably best done with OpenCV (cv::VideoCapture). After adding OpenCV to the project, finding the camera's device id, and translating the native format into OpenCV's cv::Mat the structure could probably be published directly on the topic. There are some ros2/c/c++ specific packages, but since we'll likely be using OpenCV anyway, it wouldn't hurt to use it from the very start.