rtf_pyopencv_camera

This is a super simple pi camera node using python and opencv.

colcon build --packages-select rtf_pyopencv_camera
. install/setup.bash
ros2 run rtf_pyopencv_camera pycamera_node

ros2 param set <node_name> <param_name> <param_value>
ros2 param load <node_name> <parameter_file>
ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>

/pycamera_node:
  ros__parameters:
    camera_num: 0
    camera_size: 720

• pycamera_node
  • topics:
    • image: uncompressed raw image
    • image_compressed: jpeg compressed image, rectified if calibration info provided
  • CLI arguments
    • camera_num: default 0
  • parameters:
    • camera_size: image size [height, width], default 320
    • encoding: bgr, rgb, default mono8
    • rectified: use calibration data to rectify image before sending, default False
• grab_node
  • capture image: ros2 service call /capture std_srvs/srv/Empty
  • TODO: Add video capture capture_video and capture_image

Launch

$ ros2 launch rtf_pyopencv_camera pycamera_foxglove_launch.py

Alternatives

• C++: OpenCV_Cam
• C++: raspicam2_node

Reference Work

• opencv_camera

Foxglove

ros2 launch foxglove_bridge foxglove_bridge_launch.xml

Setup Pi Camera

I am using Ubuntu Server 24.04 on my Raspberry Pi.

• Add start_x=1 to /boot/firmware/config.txt
  • Note: making the change to /boot/firmware/usercfg.txt doesn't work
• Reboot pi
• You should have /dev/video0 now

Check all is working:

• sudo apt install fswebcam
• Run: fswebcam --save test.jpg -d /dev/video0 -r 1280x960
• You should now have a jpeg taken from the camera

MIT License

Copyright (c) 2020 Reckless Ted's Funland

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.