visp_bridge is a small interface between the ViSP library and ROS. For instance it converts between the different data types used by each library.
To date, the supported functionnality sums up to:
- ViSP vpImage / ROS sensor_msgs::Image conversion
- ViSP vpCameraParameter / ROS sensor_msgs::CameraInfo conversion
- ViSP vpHomogeneousMatrix / ROS geometry_msgs::msg::Transform conversion
- ViSP vpHomogeneousMatrix / ROS geometry_msgs::msg::Pose conversion
This package can be compiled like any other ros2 package using colcon. In that case you have to consider the ros2 branch.
First you need to install ViSP as a system dependency. This can be achived using ros-${ROS-DISTRO}-visp package available for Ubuntu. Just run:
$ sudo apt-get install ros-${ROS-DISTRO}-visp
If the ros2 package is not available or if you want to use a more recent version of ViSP, you can also install ViSP from source following ViSP Quick Installation. We recall here after the main steps:
$ cd $VISP_WS
$ git clone https://github.com/lagadic/visp.git
$ mkdir -p $VISP_WS/visp-build
$ cd $VISP_WS/visp-build
$ cmake ../visp
$ make -j$(nproc)
Then to use this version you have to setup VISP_DIR environment variable to the folder that contains the build. In our case it becomes:
$ export VISP_DIR=$VISP_WS/visp-build
Supposed you have a ros2 work space just run:
$ cd ~/colcon_ws/src
$ git clone -b ros2 https://github.com/lagadic/vision_visp.git
$ cd ..
$ colcon build --symlink-install --packages-select visp_bridge
- [Project webpage on ros.org] ros-homepage
- [Project webpage: source code download, bug report] github-homepage
- API documentation