enable image
flowchart
A[Driver Node] ---> B["/image_raw
sensor_msgs/Image"] ---> C[Algorithms & Stuff]
E["/image_raw/compressed
sensor_msgs/CompressedImage"]
B <-- image_transport_library/nodes --> E
install dependencies
on the dev machine
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2
| sudo apt-get install ros-foxy-v4l2-camera
sudo apt install ros-foxy-rqt-image-view
|
on the pi, add start_x=1 to
/boot/firmware/config.txt
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2
3
4
5
6
7
8
9
| sudo apt install libtheora-dev libogg-dev v4l-utils
cd ~/code/dev_dep/src
git clone -b foxy https://gitlab.com/boldhearts/ros2_v4l2_camera.git
git clone https://github.com/ros-perception/image_transport_plugins.git -b foxy-devel
git clone https://github.com/ros-perception/image_common.git -b foxy
git clone https://github.com/ros-perception/vision_opencv.git -b foxy
git clone https://github.com/ros-drivers/usb_cam.git -b ros2
cd ..
colcon build --symlink-install
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Launch the camera
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3
| cd ~/code/dev_ws
source install/setup.bash
ros2 launch articubot_one camera.launch.py
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on the dev machine
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2
3
4
| cd ~/code/dev_ws
source install/setup.bash
rviz2 -d src/articubot_one/config/main.rviz
ros2 run rqt_image_view rqt_image_view
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