gscam

A ROS camera driver that uses gstreamer to connect to: devices such as webcams.

README

This is a ROS2 package originally developed by the Brown Robotics Lab for broadcasting any GStreamer video stream via image transport.

GSCam supports the following versions of ROS2 and GStreamer:

These dependencies will be picked up by rosdep and are required to compile:

These additional packages are often useful:

Ubuntu install:

sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev

GSCam for ROS2 is licensed under the Apache 2 license.

Note that GStreamer is licensed under the LGPL, and GStreamer plugins have their own license requirements.

camera_name: The name of the camera (corrsponding to the camera info)
camera_info_url: A url (file://path/to/file, package://pkg_name/path/to/file) to the camera calibration file
gscam_config: The GStreamer configuration string
frame_id: The tf2 frame ID
reopen_on_eof: Re-open the stream if it ends (EOF)
sync_sink: Synchronize the app sink (sometimes setting this to false can resolve problems with sub-par framerates)
use_gst_timestamps: Use the GStreamer buffer timestamps for the image message header timestamps (setting this to false results in header timestamps being the time that the image buffer transfer is completed)
image_encoding: image encoding (“rgb8”, “mono8”, “yuv422”, “jpeg”)
use_sensor_data_qos: The flag to use sensor data qos for camera topic(image, camera_info)

See example launch files and configs in the examples directory.

These examples have been tested and work well: