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gscam2

(★ 134)

ROS2 camera driver for GStreamer-based video streams, supports intra-process communication

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Download Latest Version (.zip)

- - build_test.yml
- dependabot.yml
- my_camera.ini
- params.yaml
- workaround_params.yaml
- - gscam_node.hpp
  - subscriber_node.hpp
- composition_launch.py
- container_param_launch.py
- node_param_launch.py
- republish_launch.py
- gscam_main.cpp
- gscam_node.cpp
- ipc_test_main.cpp
- subscriber_node.cpp
- smoke_test.cpp
- utils.hpp
.gitignore
CMakeLists.txt
Dockerfile
package.xml
README.md

# Installation Guide

1. Get the code

git clone https://github.com/clydemcqueen/gscam2

Downloads the entire project code from GitHub to your computer.

cd gscam2

Moves into the project folder you just downloaded.

2. Docker

Easy Recommended

Prerequisites

Git Needed to download the project code from GitHub.
Docker Desktop Needed to build and run containers. Install it and keep it running in the background.

docker build -t gscam2 .

Builds a runnable image based on the Dockerfile.

docker run -p 8080:80 gscam2

Runs the built image as an actual container.

✅ Run docker compose ps to check the containers are Up. If the README mentions a port, open http://localhost:PORT in your browser.

3. CMake

Medium

Prerequisites

Git Needed to download the project code from GitHub.
CMake The tool used to generate build configuration.
C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.

mkdir build && cd build

Creates a folder to hold the build output and moves into it.

cmake ..

Analyzes the source code and generates build configuration files (must be run inside the build folder).

make

Compiles the code based on the generated build configuration to produce an executable.

✅ Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).

// repository documentation

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# gscam2 ![ROS2 CI](https://github.com/clydemcqueen/gscam2/actions/workflows/build_test.yml/badge.svg?branch=main)

ROS2 port of [gscam](https://github.com/ros-drivers/gscam).
Supports [ROS2 intra-process comms](https://docs.ros.org/en/humble/Tutorials/Demos/Intra-Process-Communication.html).

> Update 15-Jun-22: [gscam](https://index.ros.org/p/gscam/github-ros-drivers-gscam/) has been released for ROS2. It does not support IPC.

> Update 16-Mar-21: the package name has been updated to match the repository name (gscam2)

## Install and build

Tested on ROS2 Humble, Jazzy and Kilted.
See the [Dockerfile](Dockerfile) for install and build instructions.

## Usage

Make sure your GStreamer pipeline runs successfully in gst-launch-1.0.
For example, here's a pipeline that works for the [Blue Robotics HD USB Camera](https://bluerobotics.com/store/sensors-sonars-cameras/cameras/cam-usb-low-light-r1/):
~~~
gst-launch-1.0 -v v4l2src device=/dev/video1 do-timestamp=true ! queue ! video/x-h264,width=1920,height=1080,framerate=30/1 ! h264parse ! queue ! avdec_h264 ! autovideosink
~~~

Here's the same pipeline in gscam2:
~~~
export GSCAM_CONFIG="v4l2src device=/dev/video1 do-timestamp=true ! queue ! video/x-h264,width=1920,height=1080,framerate=30/1 ! h264parse ! avdec_h264 ! videoconvert"
ros2 run gscam2 gscam_main
~~~

Here's an example with parameters:
~~~
ros2 run gscam2 gscam_main --ros-args --remap /image_raw:=/my_camera/image_raw --params-file gscam_params.yaml -p camera_info_url:=file://$PWD/my_camera_info.ini
~~~
... where gscam_params.yaml is:
~~~
gscam_publisher:
  ros__parameters:
    gscam_config: 'v4l2src device=/dev/video1 do-timestamp=true ! queue ! video/x-h264,width=1920,height=1080,framerate=30/1 ! h264parse ! avdec_h264 ! videoconvert'
    preroll: True
    use_gst_timestamps: True
    camera_name: 'my_camera'
    frame_id: 'my_camera_frame'
~~~

Here's an example that uses a GStreamer tee to split the stream, with one stream producing ROS images
and the second stream writing to MP4 files:
~~~
export GSCAM_CONFIG="v4l2src device=/dev/video1 do-timestamp=true ! queue ! video/x-h264,width=1920,height=1080,framerate=30/1 ! h264parse ! tee name=fork ! queue ! splitmuxsink location=video%02d.mov max-size-bytes=10000000 fork. ! avdec_h264 ! videoconvert"
ros2 run gscam2 gscam_main
~~~
There's a [bug](https://github.com/clydemcqueen/gscam2/issues/4) where the last MP4 file is not closed correctly.

### Intra-process comms

IPC test -- CLI composition:
~~~
# Create the container in the first shell; output will appear here as nodes are loaded:
export GSCAM_CONFIG="videotestsrc pattern=snow ! video/x-raw,width=1280,height=720 ! videoconvert"
ros2 run rclcpp_components component_container

# Add the nodes to the container in the second shell:
ros2 component load /ComponentManager gscam2 gscam2::ImageSubscriberNode -e use_intra_process_comms:=true
ros2 component load /ComponentManager gscam2 gscam2::GSCamNode -e use_intra_process_comms:=true
~~~

Launch file composition:
~~~
ros2 launch gscam2 composition_launch.py
~~~

Manual composition -- handy for debugging:
~~~
export GSCAM_CONFIG="videotestsrc pattern=snow ! video/x-raw,width=1280,height=720 ! videoconvert"
ros2 run gscam2 ipc_test_main
~~~

### Finding GStreamer plugins

GStreamer scans various paths for plugins and builds a plugin registry.
[The search process is described here](https://gstreamer.freedesktop.org/documentation/gstreamer/gstregistry.html?gi-language=c).

gscam uses a parameter `gst_plugin_path` instead than the commandline option `--gst-plugin-path`.
The paths in `gst_plugin_path` are searched last, not first.

If you have custom plugins you may need to override the plugin path. Here's an example showing how this works:
~~~
# Disable default locations
export GST_PLUGIN_PATH=""
export GST_PLUGIN_SYSTEM_PATH=""

# Provide the pipeline configuration
export GSCAM_CONFIG=videotestsrc pattern=snow ! video/x-raw,width=1280,height=720 ! videoconvert

# Run gscam_main, providing a custom plugin path
ros2 run gscam2 gscam_main  --ros-args -p gst_plugin_path:="/home/me/myplugins"
~~~

## Parameters

| Parameter | Type | Default | Notes |
|---|---|---|---|
| `gst_plugin_path` | string | | Similar to `--gst-plugin-path`, searchs path for plugins |
| `gscam_config` | string | | GStreamer pipeline configuration |
| `sync_sink` | bool | True | Enable GstBaseSink synchronization |
| `preroll` | bool | False | Transition to GST_STATE_PLAYING twice |
| `use_gst_timestamps` | bool | False | Use gst time instead of ROS time |
| `image_encoding` | string | `sensor_msgs::image_encodings::RGB8` |  ROS image encoding |
| `camera_info_url` | string | | URL to camera info file, e.g., `file:///path/to/file` |
| `camera_name` | string | | Replaces `${NAME}` in the URL  |
| `frame_id` | string | camera_frame | Camera frame ID |
| `skip` | int | 0 | Skip n frames for each frame sent; useful for reducing frame rates |

## Topics
- `camera_info`
- `image_raw`
- `image_raw/compressed` - only if image is encoded as a jpeg stream

## Camera info file formats

Uses the [ROS standard camera calibration formats](http://wiki.ros.org/camera_calibration_parsers?distro=melodic).
Files must end in `.ini` or `.yaml`.