gst_image_transport

^{Inspired from tilk/h264_image_transport.}

ROS image transport implemented with GStreamer. It currently provides subscribers for the following transports:

• h264
• h265

This repo has been created to be used in pair with the nvidia_gmsl_driver_ros but can be used to decode any supported transport published with the sensor_msgs/CompressedImage message.

How to use

Build

• Create a workspace

  mkdir -p catkin_ws/src
  cd catkin_ws

• Clone the repo

  git clone git@github.com:UT-ADL/gst_image_transport.git src/gst_image_transport

• Install dependencies

  rosdep install -y --from-path src

• Build and source the workspace

  catkin build
  source devel/setup.bash

• The plugins for the ROS image transport are now available.

Usage

• You can verify that the plugins are loaded correctly with :

  rosrun image_transport list_transports

  You should see :

  "image_transport/h264"
  - Provided by package: gst_image_transport
  - No publisher provided
  - Subscriber:
    This plugin decodes a h264 video stream.
  
  ----------
  "image_transport/h265"
  - Provided by package: gst_image_transport
  - No publisher provided
  - Subscriber:
    This plugin decodes a h265 video stream.
  

• You can then decompress supported messages like so : (Example with h264)

  rosrun image_transport republish h264

  For details see the image transport republish doc.