[go: up one dir, main page]
More Web Proxy on the site http://driver.im/
Skip to content

ros-drivers/gscam

 
 

Repository files navigation

GSCam ROS2 CI

This is a ROS2 package originally developed by the Brown Robotics Lab for broadcasting any GStreamer video stream via image transport.

GStreamer Library Support

GSCam supports the following versions of ROS2 and GStreamer:

ROS2 version Ubuntu version GStreamer version
Foxy 20.04 1.16
Galactic 20.04 1.16
Humble 22.04 1.20
Rolling 22.04 1.20

Dependencies

These dependencies will be picked up by rosdep and are required to compile:

  • libgstreamer1.0-dev
  • libgstreamer-plugins-base1.0-dev

These additional packages are often useful:

  • gstreamer1.0-tools
  • libgstreamer-plugins-good1.0-dev

Ubuntu install:

sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev

License

GSCam for ROS2 is licensed under the Apache 2 license.

Note that GStreamer is licensed under the LGPL, and GStreamer plugins have their own license requirements.

API

Nodes

  • gscam

Topics

  • camera/image_raw
  • camera/camera_info

Services

  • camera/set_camera_info

Parameters

  • camera_name: The name of the camera (corrsponding to the camera info)
  • camera_info_url: A url (file://path/to/file, package://pkg_name/path/to/file) to the camera calibration file
  • gscam_config: The GStreamer configuration string
  • frame_id: The tf2 frame ID
  • reopen_on_eof: Re-open the stream if it ends (EOF)
  • sync_sink: Synchronize the app sink (sometimes setting this to false can resolve problems with sub-par framerates)
  • use_gst_timestamps: Use the GStreamer buffer timestamps for the image message header timestamps (setting this to false results in header timestamps being the time that the image buffer transfer is completed)
  • image_encoding: image encoding ("rgb8", "mono8", "yuv422", "jpeg")
  • use_sensor_data_qos: The flag to use sensor data qos for camera topic(image, camera_info)

Examples

See example launch files and configs in the examples directory.

These examples have been tested and work well:

About

ROS Camera driver for GStreamer-based video streams.

Resources

Stars

Watchers

Forks

Packages

No packages published

Languages