Class UsbCamNode

Defined in File usb_cam_node.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class UsbCamNode : public rclcpp::Node

Public Functions

explicit UsbCamNode(const rclcpp::NodeOptions &node_options)

~UsbCamNode()

void init()

void get_params()

void assign_params(const std::vector<rclcpp::Parameter> &parameters)

void set_v4l2_params()

void update()

bool take_and_send_image()

bool take_and_send_image_mjpeg()

rcl_interfaces::msg::SetParametersResult parameters_callback(const std::vector<rclcpp::Parameter> &parameters)

void service_capture(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<std_srvs::srv::SetBool::Request> request, std::shared_ptr<std_srvs::srv::SetBool::Response> response)

Public Members

UsbCam *m_camera

sensor_msgs::msg::Image::UniquePtr m_image_msg

sensor_msgs::msg::CompressedImage::UniquePtr m_compressed_img_msg

std::shared_ptr<image_transport::CameraPublisher> m_image_publisher

rclcpp::Publisher<sensor_msgs::msg::CompressedImage>::SharedPtr m_compressed_image_publisher

rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr m_compressed_cam_info_publisher

parameters_t m_parameters

sensor_msgs::msg::CameraInfo::SharedPtr m_camera_info_msg

std::shared_ptr<camera_info_manager::CameraInfoManager> m_camera_info

rclcpp::TimerBase::SharedPtr m_timer

rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr m_service_capture

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr m_parameters_callback_handle