B-Roll: Video data in rosbag2

This repository contains plugins and libraries for interacting effectively with video data using rosbag2.

NOTE: This project is in an early stage and is incomplete - please forgive any issues, pull requests welcome!

Contains the following packages, see their respective README.md for more information:

• broll The main broll utility library
• rosbag2_storage_broll A Rosbag2 storage implementation that can read encoded video frames from video files, and optionally decode them into raw images

Sample workflows

Getting started

1. Go get any old mp4 file (h264 and h265/hevc encoding only supported so far). A recommendation: download Big Buck Bunny! from blender or here’s one mirror
2. colcon build the packages in this repository after rosdep installing their dependencies

For all demos

1. In one shell, run

ros2 run foxglove_bridge foxglove_bridge

1. Open Foxglove Studio, either native or in browser
   • Open Connection… to ws://localhost:8765
   • Create an Image panel and point it to topic video/raw

Publishing decoded video:

1. Create a file decoded_config.yaml with the following contents:

# decoded_config.yaml
pub_compressed: false
pub_decoded: true
decoded_scale: 0.5

1. In a shell, run

ros2 bag play --read-ahead-queue-size 60 --storage-config-file config.yaml path/to/my/movie.mp4`

1. Enjoy watching your movie in Foxglove!

Publishing compressed/encoded video

1. Create a file compressed_config.yaml with contents:

# compressed_config.yaml
pub_compressed: true
pub_decoded: false

1. In a shell, run

ros2 bag pay --read-ahead-queue-size 60 --storage-config-file config.yaml path/to/my/movie.mp4

1. In a separate shell, run

ros2 run broll decode_node

1. Enjoy watching your movie in Foxglove!