ROS node for streaming data from the Raspberry Pi camera module.
Now works at 90 fps thanks to the new firmware provided by the Raspberry Pi foundation
Requirements
- working ROS core and network
- a Raspberry Pi
- a camera module
Get Raspbian http://elinux.org/RPi_Easy_SD_Card_Setup
Enable Camera and expand FS http://www.raspberrypi.org/archives/3890
sudo apt-get update
sudo apt-get upgrade
Get ROS from http://www.ros.org/wiki/groovy/Installation/Raspbian. These instructions are for Groovy, but this has been tested with Kinetic. Change the release name to match your ROS version.
sudo apt-get install ros-kinetic-image-transport ros-kinetic-image-transport-plugins ros-kinetic-image-transport-plugins ros-kinetic-camera-info-manager ros-kinetic-compressed-image-transport ros-kinetic-roscpp
git clone https://github.com/raspberrypi/userland.git /home/pi/userland
cd /home/pi
mkdir catkin_ws
source /opt/ros/kinetic/setup.bash
export ROS_WORKSPACE=/home/pi/catkin_ws
cd /home/pi/catkin_ws
mkdir src
cd src
git clone https://github.com/fpasteau/raspicam_node.git raspicam
cd ..
catkin_make
source devel/setup.bash
then you can run the node using:
rosrun raspicam raspicam_node
Topic:
/camera/image/compressed (for raspicam_node):
publish sensor_msgs/CompressedImage
jpeg from the camera module
/camera/image (for raspicam_raw_node):
publish sensor_msgs/Image
image in bgra8 from the camera module
camera/camera_info :
publish sensor_msgs/CameraInfo
camera info for each frame
Services :
/camera/start_capture :
start video capture and publication
/camera/stop_capture :
stop video capture and publication (buggy at the moment)
/set_camera_info :
set camera information (used for calibration)
saved in package://raspicam/calibrations/camera.yaml
Parameters :
width :
width of the captured images (0 < width <= 1920)
height :
height of the captured images (0 < width <= 1080)
framerate :
framerate of the captured images (0 < framerate <= 90)
quality :
quality of the captured images (0 < quality <= 100)
tf_prefix :
prefix for frame_id
For parameter changes to be applied, the capture need to be restarted using /stop_capture and /start_capture services.
Example :
rosrun raspicam raspicam_node
rosservice call /camera/start_capture
rosrun image_view image_view image:=/camera/image _image_transport:=compressed
If you want to try 90 fps mode, you'll have to decrease the quality factor.
To try the 90 fps mode :
rosrun raspicam raspicam_node _framerate:=90 _quality:=10
rosservice call /camera/start_capture
rosrun image_view image_view image:=/camera/image _image_transport:=compressed
TO DO List :
- remove warnings from raspicamcontrol
- reenable vc_gencmd
- check raspicam_raw_node for bugs