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epuck_ros2_camera package from epuck_ros2 repo

epuck_ros2 epuck_ros2_camera epuck_ros2_driver

Package Summary

Tags	No category tags.
Version	0.0.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 node for the e-puck robot and its simulation model
Checkout URI	https://github.com/cyberbotics/epuck_ros2.git
VCS Type	git
VCS Version	master
Last Updated	2023-11-23
Dev Status	UNKNOWN
CI status	No Continuous Integration
Released	UNRELEASED
Tags	robot robotics simulation ros ros2 webots e-puck
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

ROS2 driver for e-puck2 camera

Additional Links

No additional links.

Maintainers

Cyberbotics

Authors

No additional authors.

epuck_ros2_camera/README.md

E-Puck Camera

This ROS2 driver takes images from camera device located on e-puck2 robot. It uses V4L2 driver for extracting the images from the camera and Multimedia Abstraction Layer to perform fast JPEG conversion by utilizing onboard GPU.

Parameters

quality Quality of JPEG conversion (default 8)
interval Interval of image acquisition in milliseconds (default 80)
width Width of the output RGB images, height is automatically calculated (default 640, valid values [640, 320, 256, 128, 64])

Topics

/image_raw [sensor_msgs/msg/Image] Raw RGB images
/image_raw/compressed [sensor_msgs/msg/CompressedImage] JPEG compressed images
/camera_info [sensor_msgs/msg/CameraInfo] Information about the camera (e.g. intrinsic parameters)

There a few things to note here, mainly related to Raspberry Pi Zero computational power and WiFi bandwidth.

Images will be published only if there is at least one subscriber to avoid unnecessary computation.
Topic /image_raw/compressed is suitable for offboard processing since the data transmission rate is significantly lower.
Topic /image_raw is suitable for onboard processing since no conversion is needed (much lower CPU utilization).
If you have multiple nodes subscribed to /image_raw/compressed it would be handy to have an additional node republishing images to reduce network utilisation, e.g. ros2 run image_transport republish compressed in/compressed:=image_raw/compressed raw out:=image_raw/uncompressed.

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	sensor_msgs
	camera_info_manager
	ament_cmake_cppcheck
	ament_cmake_cpplint
	ament_cmake_clang_format
	ament_cmake_copyright
	ament_cmake_lint_cmake
	ament_cmake_flake8
	ament_cmake_pep257
	ament_cmake_xmllint

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
epuck_ros2

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `epuck_ros2_camera` at Robotics Stack Exchange

API Docs Browse Code

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