Raspberry Pi Camera ROS2 Publisher

This a simple ROS2 package to publish and view compressed image frames from a RPI camera.

Dependencies

You need:

• OpenCV
• compressed_image_transport

Installing

Clone this into src of your ROS workspace (e.g ~/ros2_ws/src):

git clone https://github.com/rpapallas/pi_camera_ros

Build using colcon:

cd ~/ros2_ws
colcon build

Running

Run the publisher:

ros2 run pi_camera publish_compressed

View the compressed frames (possibly on another machine on the same ROS network):

ros2 run pi_camera view_compressed

Adjusting parameters

You can adjust the following parameters:

• Publishing rate: this is defined in pi_camera/publish_compressed.py as time_in_seconds in the initialiser.
• Frame resolution: width and height of the frame can be adjusted in pi_camera/publish_compressed.py in the initialiser.