Port usb_cam to ROS2 #106
Closed
Port usb_cam to ROS2 #106
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Some dependencies are not available in ROS2 yet, so have been removed: - image_transport - camera_info_manager
Logging in ROS2 is bound to nodes, which is not available in this independent library code
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR ports the USB cam node to ROS2. Some changes are shared with https://github.com/lucasw/usb_cam/tree/bouncy, but trying to stay close to the original implementation; closes #103.
This targets Bouncy, which is lacking some features that had to be removed:
Some open points/uncertainties:
showimagenode, however this has a bug when the image format is in RGB8, I have created a PR for that here: Prevent frame going out of scope when converting RGB -> BGR ros2/demos#288developbranch, perhaps a newros2branch should be started?usb_cam.cppis less nice, because I'm not sure yet how to nicely use ROS2's new logging system, while keepingusb_cam.cppclean and independent of ROS.