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Deprecation

This package is no longer actively maintained. Please use another driver, such as libuvc_camera (github).

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Overview

This package provides drivers for USB Video Class (UVC) cameras. This standard covers almost all consumer webcams. The source is on github https://github.com/ktossell/camera_umd

It works with the ROS image_pipeline like other streaming camera drivers. Its stereo node supports binocular streams, publishing synchronized image pairs from two cameras.

The drivers are implemented as nodes and as nodelets.

ROS API

camera_node / CameraNodelet

UVC/USB camera driver.

Published Topics

image_raw (sensor_msgs/Image)

• A stream of images from the camera.

camera_info (sensor_msgs/CameraInfo)

• Camera intrinsics for images published on camera/image_raw with matching time stamps and frame IDs. If CameraInfo calibration is not available or is incompatible with the current video_mode, uncalibrated data will be provided instead.

Services

set_camera_info (sensor_msgs/SetCameraInfo)

• Set the camera's calibration.

Parameters

~camera_info_url (string, default: )

• URL to camera's calibration file. See camera_info_manager.

~device (string, default: /dev/video0)

• Path to camera's device file

~fps (int, default: 10)

• Frames per second to request from camera

~width (int, default: 640)

• Width of image to request from camera

~height (int, default: 480)

• Height of image to request from camera

~frame_id (string, default: frame)

• TF frame representing position, orientation of camera

stereo_node / StereoNodelet

UVC/USB dual-camera driver.

Published Topics

left/image_raw (sensor_msgs/Image)

• A stream of images from the left camera.

right/image_raw (sensor_msgs/Image)

• A stream of images from the right camera.

left/camera_info (sensor_msgs/CameraInfo)

• Camera intrinsics for images published on left/image_raw with matching time stamps and frame IDs. If CameraInfo calibration is not available or is incompatible with the current video_mode, uncalibrated data will be provided instead.

right/camera_info (sensor_msgs/CameraInfo)

• Camera intrinsics for images published on right/image_raw with matching time stamps and frame IDs.

Services

left/set_camera_info (sensor_msgs/SetCameraInfo)

• Set the left camera's calibration.

right/set_camera_info (sensor_msgs/SetCameraInfo)

• Set the right camera's calibration.

Parameters

~left/camera_info_url (string, default: )

• URL to left camera's calibration file. See camera_info_manager.

~right/camera_info_url (string, default: )

• URL to right camera's calibration file.

~left/device (string, default: /dev/video0)

• Path to left camera's device file

~right/device (string, default: /dev/video1)

• Path to right camera's device file

~fps (int, default: 10)

• Frames per second to request from camera

~skip_frames (int, default: 0)

• Number of frames to skip between each published frame

~left/rotate (bool, default: false)

• Left image will be rotated 180 degrees if true.

~right/rotate (bool, default: false)

• Right image will be rotated 180 degrees if true.

~width (int, default: 640)

• Width of image to request from camera

~height (int, default: 480)

• Height of image to request from camera

~frame_id (string, default: frame)

• TF frame representing position, orientation of left camera

To Do

Controls

• - Add support for runtime control of various camera settings.