1.9 KiB
rosimage
This package contains a plugin that subscribes to a ROS1 image topic and acts as a gstreamer video source (rosimagesrc), and one for consuming a gstreamer stream and publishing it as a ROS topic (rosimagesink).
Related work:
- ros-gst-bridge: the same thing, but for ROS2 (and with more features)
- gscam: ROS1, but only the gstreamer → ROS part.
Installation
If you have not already, install ROS on your system, according to the official guide. The only ROS dependency this plugin has is the sensor_msgs package, which is included in ros-noetic-desktop. After installing, add ROS to your environment (source /opt/ros/noetic/setup.bash) and build the plugin by running cargo cbuild -p gst-plugin-rosimage from the root of this repo.
Hello world
Open four terminals, and run source /opt/ros/noetic/setup.bash in each. Then:
- In the first one, start
roscore - In the second one, start a gstreamer → ROS pipeline:
GST_PLUGIN_PATH="target/x86_64-unknown-linux-gnu/debug:$GST_PLUGIN_PATH" gst-launch-1.0 videotestsrc ! rosimagesink topic=/helloworld - In the third one, start
rqt_image_viewand select the/helloworldtopic from the dropdown menu. You should now be seeing the gstreamer test video, but from the ROS side of things. - In the fourth terminal, start the ROS → gstreamer pipeline
GST_PLUGIN_PATH="target/x86_64-unknown-linux-gnu/debug:$GST_PLUGIN_PATH" gst-launch-1.0 rosimagesrc topic=/helloworld ! videoconvert ! autovideosink. This will produce a GStreamer window showing the same test video, but after it has been converted back from ROS.
Copyright
© 2023 by farming revolution GmbH, published under the MIT License or the Mozilla Public License Version 2.0, at your choice.