opencv_ros_camera

this is a simple ros pacakge for interfacing camera using opencv. it publishes on topics:

<camera_optical_frame_id>/image_raw
<camera_optical_frame_id>/image_raw/compressed

Installation Steps

• install the following on the Pi or Pc

  sudo apt install libopencv-dev python3-opencv
  pip3 install opencv-python

• create your <ros_ws> in the home dir. (replace <ros_ws> with your workspace name)

  mkdir -p ~/<ros_ws>/src
  cd ~/<ros_ws>
  colcon build
  source ~/<ros_ws>/install/setup.bash

• cd into the src folder of your <ros_ws> and download the mobo_bot packages

  cd ~/<ros_ws>/src
  git clone https://github.com/robocre8/opencv_ros_camera.git

• cd into the root directory of your <ros_ws> and run rosdep to install all necessary ros package dependencies

  cd ~/<ros_ws>/
  rosdep install --from-paths src --ignore-src -r -y

• build your <ros_ws>

  cd ~/<ros_ws>/
  colcon build --symlink-install

• don't forget to source your <ros_ws> in any new terminal

  source ~/<ros_ws>/install/setup.bash

Use the package

• set the video port of your camera from the camera_publisher.launch.py file

  source ~/<ros_ws>/install/setup.bash

• run the ros opencv camera publisher node

  ros2 launch opencv_ros_camera camera_publisher.launch.py

View published camera data on your PC

• install rqt_image_view

  sudo apt-get install ros-humble-rqt-image-view

• run to view published images (compressed or raw)

  ros2 run rqt_image_view rqt_image_view