ROS2 IP Camera Component

ROS2 component that publishes raw images taken from an IP camera.

Note: to cross-compile for ARM architecture see the related article_.

.. _article: http://surfertas.github.io/ros2/cross-compile/2019/10/14/crosscompile.html

Installation:

.. code:: bash

git clone https://github.com/surfertas/ros2_ipcamera.git colcon build --symlink-install . install/setup.bash

Docker:

.. code:: bash

git clone https://github.com/surfertas/ros2_ipcamera.git cd ros2_ipcamera sudo docker build -t ros2_ipcamera/latest .

Usage:

1. Update rtsp_uri parameter found in /config/ipcamera.yaml with the appropriate rtsp uri to your IP camera.
2. Set the width and height to match the resolution of the IP camera. The node does not resize the image, but only sets the capture.
3. Generate a camera_info.yaml file and place in /config.

.. code:: bash

ros2 run ros2_ipcamera composition

Alternatively use the launch file

ros2 launch ros2_ipcamera ipcamera.launch.py

Docker:

.. code:: bash

Update rtsp_uri in the yaml file.

sudo docker run -it ros2_ipcamera/latest bash vi src/ros2_ipcamera/config/ipcamera.yaml source ./install/setup.bash ros2 launch ros2_ipcamera ipcamera.launch.py

Topics:

/ipcamera/image_raw - topic for raw image data

/ipcamera/camera_info - topic for camera info

References:

1. https://github.com/ros2/demos/blob/master/image_tools/src/cam2image.cpp
2. http://surfertas.github.io/ros2/2019/08/17/ros2-qos.html
3. https://github.com/klintan/ros2_usb_camera/blob/master/src/usb_camera_driver.cpp
4. https://github.com/ros-perception/image_common/wiki/ROS2-Migration
5. https://github.com/ros2/demos/tree/master/composition
6. https://github.com/christianrauch/raspicam2_node/blob/master/src/RasPiCamPublisherNode.cpp