This is a ROS package originally developed by the Brown Robotics
Lab for broadcasting any
GStreamer-based video stream via the
standard ROS Camera API. This fork has
several fixes incorporated into it to make it broadcast correct
sensor_msgs/Image messages with proper frames and timestamps. It also allows
for more ROS-like configuration and more control over the GStreamer interface.
Note that this pacakge can be built both in a rosbuild and catkin workspaces.
ROS API (stable)
This can be run as both a node and a nodelet.
~camera_name: The name of the camera (corrsponding to the camera info)
~camera_info_url: A url (
package://pkg_name/path/to/file) to the camera calibration file.
~gscam_config: The GStreamer configuration string.
~frame_id: The TF frame ID.
~reopen_on_eof: Re-open the stream if it ends (EOF).
~sync_sink: Synchronize the app sink (sometimes setting this to
falsecan resolve problems with sub-par framerates).
C++ API (unstable)
The gscam c++ library can be used, but it is not guaranteed to be stable.
See example launchfiles and configs in the examples directory. Currently there are examples for: