polled_camera contains a service and C++ helper classes for implementing a polled camera driver node and requesting images from it. The package is currently for internal use as the API is still under development.
NOTE: This package's API is not yet released. It may change from its current form.
polled_camera contains a service definition for requesting polled images, as well as a C++ server class to simplify publishing polled images to clients.
The protocol for polling images from a camera driver node that supports it is as follows:
<camera>/request_image
.Image
and CameraInfo
are published to <response_namespace>/image_raw
and <response_namespace>/camera_info
, latched.Use polled_camera::PublicationServer in camera driver nodes (or similar) to track client connections and respond to image requests.
There is not currently a matching client class, but receiving polled images is identical to subscribing to any other image topic. The only additional step is using a ros::ServiceClient to make explicit requests: