VIO DEV

ROS Camera Package

Cam Publisher Node

  1. Create ROS Package

catkin_create_pkg ros_cv std_msgs roscpp rospy cv_bridge sensor_msgs image_transport rosbag

  1. Create a C++ file

  2. Edit CMakeLists.txt, use OpenCV as example

find_package(OpenCV)
include_directories(${OpenCV_INCLUDE_DIRS})

add_executable(cam_pub src/cam_pub.cpp)
target_link_libraries(cam_pub ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

  1. catkin_make from ws folder

  2. Run

roscore

rosrun ros_cv cam_pub

rosrun image_view image_view image:=/camera

Cam Subscriber Node

  1. Using the same ROS package

  2. Create a C++ file

  3. Edit CMakeLists.txt, use OpenCV as example

add_executable(cam_sub src/cam_sub.cpp)
target_link_libraries(cam_sub ${catkin_LIBRARIES} ${OpenCV_LIBS})

  1. catkin_make from ws folder

  2. Make launch file for launching both nodes

  3. Run launch file

roslaunch ros_cv cam.launch

Ref