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v1.0.0 - Initial Release

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@Irrelev4nt13 Irrelev4nt13 released this 06 Oct 21:38
· 2 commits to main since this release
v1.0.0
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Learn about vigilant mode.

First release of gopro_ros: extract time-synchronized images and IMU measurements from GoPro
videos into ROS 1 bags, ROS 2 bags (MCAP or SQLite3) or the EuRoC/ASL format, from one package
that builds for ROS 1 and ROS 2.

Highlights

  • ROS 1 and ROS 2 from the same sources: ROS 1 Noetic, ROS 2 Humble and ROS 2 Jazzy
  • 5-6x faster conversion with GPU video decoding (NVIDIA NVDEC or VAAPI) and parallel frame
    encoding, with automatic fallback to the CPU
  • Docker images for every supported distro, with docker compose and optional GPU access
  • No more dropped frames at chapter boundaries of multi-chapter recordings
  • Ctrl+C stops a conversion immediately

Supported platforms

ROS Distro Ubuntu
ROS 1 Noetic 20.04
ROS 2 Humble 22.04
ROS 2 Jazzy 24.04

Performance

Video (1080p HEVC, 45 Mbps) Before New (CPU) New (GPU, NVDEC)
11.9 min 201 s 187 s 31 s
14.5 min, 2 chapters 246 s 226 s 42 s

What's new

  • ROS 1 / ROS 2 build selected automatically (catkin or ament), conditional package.xml
  • ROS 2 bags in MCAP (default, zstd_fast compression) or SQLite3 (storage_id:=.db3)
  • gopro_to_asl (EuRoC/ASL export) available on both ROS versions
  • hardware_decoding parameter (on by default)
  • ROS 2 .launch.py and ROS 1 .launch files with the same arguments
  • Live progress output under ros2 launch
  • Dockerfiles for Noetic, Humble and Jazzy, docker-compose.yml and docker-compose.nvidia.yml
  • GitHub workflows that build every image and run a validation test
  • One code style and a new layout: ROS-agnostic core, ROS 1 / ROS 2 bag writers

Fixes

  • The last frames of every video chapter were dropped, leaving a 0.5 s gap at each chapter
    boundary of multi-chapter recordings
  • Ctrl+C was ignored until launch killed the node after 15 s, leaving a corrupt bag
  • Build failure on ROS 2 Humble (cv_bridge header)
  • Invalid opencv rosdep key; FFmpeg is now found via pkg-config

Getting started

git clone https://github.com/AutonomousFieldRoboticsLab/gopro_ros2.git
cd gopro_ros2
docker compose build gopro_ros_jazzy
docker compose run --rm gopro_ros_jazzy ros2 launch gopro_ros gopro_to_rosbag.launch.py \
    gopro_video:=/gopro_ws/data/GX010001.MP4 rosbag:=/gopro_ws/data/gopro_run

See the README for building
from source, all parameters and GPU decoding in Docker.

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