migrave_video_recorder

Repository for a video recorder used in the MigrAVE project

The package contains two nodes:

• migrave_video_recorder
  • Video recorder for QTrobot's internal Intel RealSense D455 camera
• migrave_webcam_recorder
  • Video recorder for the two external Logitech C930e usb webcams.

Dependencies

• std_msgs
• cv_bridge
• usb_cam
• python-opencv
• realsense2-camera

Usage

Launch the two recorder nodes:

roslaunch migrave_video_recorder migrave_video_recorder.launch

Launcn the ROS driver for the two webcams (if they are connected):

roslaunch migrave_video_recorder usb_cam_both.launch

Note: the two cameras are assumed to be mounted as /dev/video6 and /dev/video8, respectively.

Launch the official Intel ROS driver realsense2-camera for the RealSense camera (remember to disable qt_nuitrack_app first):

roslaunch migrave_video_recorder rs_camera.launch

Note: it is recommended to use the Intel ROS driver realsense2-camera instead of the built-in qt_nuitrack_app. Because the Intel ROS driver is able to publish messages at the relevant image topics at a fixed frequency (30 Hz, here). While, the qt_nuitrack_app publishes messages at the image topics at a varying frequency (22-28 Hz) as it is using a roscpp's timer which is not hard realtime timer. The video recorder requires image messages published at a fixed frequency, otherwise the video length will be different from the actual time length.

Start recording

rostopic pub /migrave_data_recorder/is_record std_msgs/Bool "True"

Stop recording

rostopic pub /migrave_data_recorder/is_record std_msgs/Bool "False"

Project Structure

├── CMakeLists.txt
├── LICENSE
├── README.md
├── package.xml
├── ros
│   ├── launch
│   │   ├── migrave_video_recorder.launch
│   │   ├── rs_camera.launch
│   │   └── usb_cam_both.launch
│   ├── scripts
│   │   ├── migrave_video_recorder
│   │   └── migrave_webcam_recorder
│   └── src
│       └── video_recorder
│           ├── __init__.py
│           └── video_recorder.py
└── setup.py