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gscam2 package from gscam2 repo

gscam2

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.2
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description ROS2 camera driver for GStreamer-based video streams, supports intra-process communication
Checkout URI https://github.com/clydemcqueen/gscam2.git
VCS Type git
VCS Version main
Last Updated 2024-05-18
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags gstreamer ipc ros2
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2 camera driver built around the GStreamer pipeline Port of https://github.com/ros-drivers/gscam

Additional Links

Maintainers

  • Clyde McQueen (ROS2)

Authors

  • Jonathan Bohren
  • Graylin Trevor Jay
  • Christopher Crick
  • Clyde McQueen
README.md

gscam2 ROS2 CI

ROS2 port of gscam. Supports ROS2 intra-process comms.

Update 15-Jun-22: gscam has been released for ROS2. It does not support IPC.

Update 16-Mar-21: the package name has been updated to match the repository name (gscam2)

Install and build

Tested on ROS2 Foxy, Galactic, Humble and Rolling. See the Dockerfile for install and build instructions.

Usage

Make sure your GStreamer pipeline runs successfully in gst-launch-1.0. For example, here’s a pipeline that works for the Blue Robotics HD USB Camera:

gst-launch-1.0 -v v4l2src device=/dev/video1 do-timestamp=true ! queue ! video/x-h264,width=1920,height=1080,framerate=30/1 ! h264parse ! queue ! avdec_h264 ! autovideosink

Here’s the same pipeline in gscam2:

export GSCAM_CONFIG="v4l2src device=/dev/video1 do-timestamp=true ! queue ! video/x-h264,width=1920,height=1080,framerate=30/1 ! h264parse ! avdec_h264 ! videoconvert"
ros2 run gscam2 gscam_main

Here’s an example with parameters:

ros2 run gscam2 gscam_main --ros-args --remap /image_raw:=/my_camera/image_raw --params-file gscam_params.yaml -p camera_info_url:=file://$PWD/my_camera_info.ini

… where gscam_params.yaml is:

gscam_publisher:
  ros__parameters:
    gscam_config: 'v4l2src device=/dev/video1 do-timestamp=true ! queue ! video/x-h264,width=1920,height=1080,framerate=30/1 ! h264parse ! avdec_h264 ! videoconvert'
    preroll: True
    use_gst_timestamps: True
    camera_name: 'my_camera'
    frame_id: 'my_camera_frame'

Here’s an example that uses a GStreamer tee to split the stream, with one stream producing ROS images and the second stream writing to MP4 files:

export GSCAM_CONFIG="v4l2src device=/dev/video1 do-timestamp=true ! queue ! video/x-h264,width=1920,height=1080,framerate=30/1 ! h264parse ! tee name=fork ! queue ! splitmuxsink location=video%02d.mov max-size-bytes=10000000 fork. ! avdec_h264 ! videoconvert"
ros2 run gscam2 gscam_main

There’s a bug where the last MP4 file is not closed correctly.

Intra-process comms

IPC test – CLI composition:

# First shell
ros2 run rclcpp_components component_container

# Second shell (ignore the deprecation warning, see https://github.com/ros2/ros2cli/issues/336)
ros2 component load /ComponentManager gscam2 gscam2::ImageSubscriberNode -e use_intra_process_comms:=true
ros2 component load /ComponentManager gscam2 gscam2::GSCamNode -e use_intra_process_comms:=true

Launch file composition:

ros2 launch gscam2 composition_launch.py

Manual composition – handy for debugging:

ros2 run gscam2 ipc_test_main

Finding GStreamer plugins

GStreamer scans various paths for plugins and builds a plugin registry. The search process is described here.

gscam uses a parameter gst_plugin_path instead than the commandline option --gst-plugin-path. The paths in gst_plugin_path are searched last, not first.

If you have custom plugins you may need to override the plugin path. Here’s an example showing how this works:

# Disable default locations
export GST_PLUGIN_PATH=""
export GST_PLUGIN_SYSTEM_PATH=""

# Provide the pipeline configuration
export GSCAM_CONFIG=videotestsrc pattern=snow ! video/x-raw,width=1280,height=720 ! videoconvert

# Run gscam_main, providing a custom plugin path
ros2 run gscam2 gscam_main  --ros-args -p gst_plugin_path:="/home/me/myplugins"

Parameters

Parameter Type Default Notes
gst_plugin_path string   Similar to --gst-plugin-path, searchs path for plugins
gscam_config string   GStreamer pipeline configuration
sync_sink bool True Enable GstBaseSink synchronization
preroll bool False Transition to GST_STATE_PLAYING twice
use_gst_timestamps bool False Use gst time instead of ROS time
image_encoding string sensor_msgs::image_encodings::RGB8 ROS image encoding
camera_info_url string   URL to camera info file, e.g., file:///path/to/file
camera_name string   Replaces ${NAME} in the URL
frame_id string camera_frame Camera frame ID

Topics

  • camera_info
  • image_raw
  • image_raw/compressed - only if image is encoded as a jpeg stream

Camera info file formats

Uses the ROS standard camera calibration formats. Files must end in .ini or .yaml.

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.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged gscam2 at Robotics Stack Exchange

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