ip_camera_ros2

Overview

This ROS2 package provides a generic interface for publishing RGB image from any IP camera. I also includes a static transform publisher and camera info publisher in case you need any of these applications.

RGB image and transform published:

The ip_camera_ros2 package has been tested under ROS2 jazzy on Ubuntu 22.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) 2 (middleware for robotics),
• OpenCV (computer vision library),
• cv_bridge (interface OpenCV with ROS)

Building

To build from source, clone the latest version from the main repository into your colcon workspace by running the following commands:

cd colcon_workspace/src
git clone https://github.com/grupo-avispa/ip_camera_ros2.git -b main

Then, install the ROS2 dependencies using rosdep and build the package using:

cd colcon_workspace
rosdep install -i --from-path src --rosdistro jazzy -y
colcon build --symlink-install

Usage

Only Image Mode

Connect your ip camera and set up the url in the params.yaml file under config directory.

ros2 launch ip_camera_ros2 image.launch.py

Image and TF Mode

Connect your ip camera and set up the url in the params.yaml file under config directory. Then configure the camera.xacro file under urdf directory with your needs (template provided) and x, y, z, roll, pitch, yaw and links as the ipcam_tf_node arguments in the image_and_tf.launch.py file under launch directory.

ros2 launch ip_camera_ros2 image_and_tf.launch.py

Nodes

ip_camera_ros2

This node publishes image from the ip camera and camera information (if this option is enabled).

camera_state_publisher

State publisher node from robot_state_publisher package.

ipcam_tf

Static transform publisher from tf2_ros package.

Published Topics

• image (sensor_msgs/Image)

  The camera image.

• camera_info (sensor_msgs/CameraInfo)

  Defined meta information for a camera.

• joint_states

• robot_description

• tf_static

• tf

  These topic are generated by the camera_state_publisher and ipcam_tf nodes.

Parameters

• image_topic (string, default: "image")

  Topic where the image will be published.

• cam_info_topic (string, default: "camera_info")

  Topic where the camera info will be published.

• image_height (int, default: -1)

  Final image height after resize or crop (set to -1 if not used).

• image_width (int, default: -1)

  Final image width after resize or crop (set to -1 if not used).

• offset_x (int, default: -1)

  Image X top left corner pixel before crop (set to -1 if not used).

• offset_y (int, default: -1)

  Image Y top left corner pixel before crop (set to -1 if not used).

  If image_height, image_width, offset_x and offset_y are greater than zero, crop image tranformation will be applied. If only image_height and image_width are greater than zero, resize image tranformation will be applied. If image_height and image_width are smaller than zero no transformations will be applied.

• url (string, default: "ipcam_url")

  Url for ip camera connection.

• tf (string, default: "camera_optical_link")

  Camera selected frame where the image will be published.

• frame_rate (unsigned int, default: 30)

  Image publishing frame rate in HZ.

• enable_cam_info (bool, default: false)

  Enables camera info publishing.

• camera_matrix (double array)

• distortion_coefficients (double array)

• rectification_matrix (double array)

• projection_matrix (double array)

  Meta information about intrinsic and extrinsic parameters of the camera obtained from calibration.