ros2 version #103
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…ng '' (/dev/video0) at 640x480 via mmap (mjpeg) at 30 FPS outbuf size mismatch. pic_size: 1036800 bufsize: 614400 ros-drivers#103
…something in the image message is wrong?) Had to make many changes to debug original issue which mainly was not created the img_ before trying to assign to it. It seems that ros2 run hides crashes silently so they are harder to debug. Every usb_cam method returns a bool but some things should throw exceptions instead. Many functions are run still without any checks on teh return value, which the throws would solve ros-drivers#103
…'t image_tools showimage?), but the frame rate is very slow ros-drivers#103
…pping the exposure time in low light ros-drivers#103
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The ros2 branch is working in bouncy. The setting of camera parameters live is offloaded to https://github.com/lucasw/v4l2ucp/tree/bouncy |
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I had started work on this separately, before coming across this issue and your fork. IMHO it started diverging a bit from the original version, with some good things but maybe can be done in further iterations? So I pushed my version up as a PR to take the discussion further. |
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I didn't make a pr because there wasn't a bouncy or ros2 branch to merge into. A git knowledgeable maintainer can do that after the pr, but this package is orphaned now- or even re-orphaned? I think being a maintainer here is hard because any one person probably only has a small number of usb cameras to test changes with. I tried to draw some attention to usb_cam in a discourse post https://discourse.ros.org/t/ros2-usb-cam-imgui-image-manipulation-nodes/6894 . There are a lot of usb_cam branches with a lot of work done on them (though no other ros2 versions at least as of a month ago) https://github.com/ros-drivers/usb_cam/network , for most the authors didn't even bother with a pr because they wanted to rewrite so much of it- some of my changes parallel theirs. |
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Hey, @lucasw @sgvandijk i'm also looking for usb_cam for ROS2. Any chance to find maintainers and create ros2 branch? |
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Hi @r7vme I have gone ahead and implemented a ROS 2 package from scratch: https://gitlab.com/boldhearts/ros2_v4l2_camera, it is still partly WIP, but it should be ready to be used and it would be great to get feedback from others who use other hardware from us :) |
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thanks a lot. @lucasw it would be great if you could open a PR towards that branch. Even though your initial work was for bouncy, we should be able to iterate over it online to make it work for Foxy. |
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refer to the |
I'm going to make a ros2 version (unless someone else already has? I spot checked a few forks but didn't see one)- it looks like the separation between ros1 node and usb cam code is mostly clean, there are just ROS_ERROR_STREAMS to convert.
https://github.com/lucasw/usb_cam/tree/bouncy
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