Query Regarding Controlling a Turtlebot’s Camera in ROS2 Humble

[Buddies-as-you-know]

Hello,

I am working with ROS2 Humble and am looking for guidance on controlling the camera on a Turtlebot. I previously came across a repository that was compatible with ROS2 Foxy, but it seems it’s not suitable for Humble. Could you please provide any information or resources on how to control the Turtlebot’s camera specifically in the Humble version? Advice on any relevant documentation, tutorials, or alternative repositories compatible with Humble would be incredibly helpful.

Thank you in advance for your time and assistance.

Best regards,

[yuokamoto]

Thanks for your question.

1. There is jammy branch which can run on Ubuntu22.04 with humble. https://github.com/rapyuta-robotics/turtlebot3-UE/tree/jammy
2. this video in discussion helps to attach camera to turtlebot I think. https://github.com/rapyuta-robotics/rclUE/issues/95#issuecomment-1600582298

[Buddies-as-you-know]

Thanks for your reply. How can I record camera images?

[yuokamoto]

I think there are two options

1. UE's feature to record from camera(I don't have much experience) https://docs.unrealengine.com/4.26/ja/AnimatingObjects/Sequencer/Workflow/RenderAndExport/RenderMovies/
2. ROS's feature to record by ros2 bag record https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.html

[Buddies-as-you-know]

Thank you. I would like to use YOLO in real time for this and other videos. The repository I was told about last time could not be used because it is foxy-compatible.

[yuokamoto]

For clarification and my understanding, are there any more blocker?

[Buddies-as-you-know]

https://docs.google.com/presentation/d/1eZNXPmLtfYkiXLVbxpxOCY--ukxQFXVAd3Uaja0tKRQ/edit#slide=id.g1f425351010_0_31 I want to run YOLO in real-time as mentioned above, but it doesn't work on humble. Is there an alternative method?

[yuokamoto]

There is a rclUE and turtlebot3-UE branch for humble as well https://github.com/rapyuta-robotics/turtlebot3-UE/issues/76#issuecomment-1807289366

[Buddies-as-you-know]

I'm running YOLO, but for some reason it stops at this screen and the video doesn't display.

[yuokamoto]

Ah, I see what your point now sorry. Since it is yolo issue, it is better to ask in different place I think. I'm not familliar with yolo

[james-yoo]

@Buddies-as-you-know You should change the image topic name to '/image_raw' as below: https://docs.google.com/presentation/d/1eZNXPmLtfYkiXLVbxpxOCY--ukxQFXVAd3Uaja0tKRQ/edit#slide=id.g1b671e8ccb4_0_11

Also, you have to change main.py to publish result image(e.g bounding boxe image) as described below: https://docs.google.com/presentation/d/1eZNXPmLtfYkiXLVbxpxOCY--ukxQFXVAd3Uaja0tKRQ/edit#slide=id.g1f6a6b86cd8_0_21

[Buddies-as-you-know]

I changed the image topic name to '/image_raw' as below: I changed main.py. But, the video doesn't display.

[Buddies-as-you-know]

Thank　you. I did this.