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This PR ports the USB cam node to ROS2. Some changes are shared with https://github.com/lucasw/usb_cam/tree/bouncy, but trying to stay close to the original implementation; closes #103.
This targets Bouncy, which is lacking some features that had to be removed:
Some open points/uncertainties:
showimage
node, however this has a bug when the image format is in RGB8, I have created a PR for that here: Prevent frame going out of scope when converting RGB -> BGR ros2/demos#288develop
branch, perhaps a newros2
branch should be started?usb_cam.cpp
is less nice, because I'm not sure yet how to nicely use ROS2's new logging system, while keepingusb_cam.cpp
clean and independent of ROS.