Image Tools - ROS 2 Foxy

Camera Frame Grabbing with Image Tools for ROS 2 Foxy

Clone

$ # Open new terminal.
$ mkdir -p ~/Image_Tools/src && cd ~/Image_Tools/src
$ git clone https://github.com/Tinker-Twins/Image_Tools.git
$ # Clone following repository instead for default functionalities (might be included with ROS installation).
$ # git clone --branch foxy https://github.com/ros2/demos.git

Build

$ cd ..
$ colcon build
$ source install/local_setup.bash

Run

In image_tools ROS2 package, two executables are provided, namely cam2image and showimage with different functions.

1 - cam2image

Running this executable connects to your workstation's default camera device's video stream and publishes the images on '/image' and '/flipimage' topics using a ROS 2 publisher.

$ # Open new terminal.
$ # Run cam2image ROS 2 node to publish the cam2image sensor_msg/msg/Image messages.
$ ros2 run image_tools cam2image

Note that cam2image provides many useful command-line options. Run ros2 run image_tools cam2image --help to see the list of options available.

Eg. If a camera device is not available, run ros2 run image_tools cam2image --ros-args -p burger_mode:=true.

2 - showimage

Running this executable creates a ROS 2 node, showimage, which subscribes to the sensor_msg/msg/Image topic, /image and displays the images in a window.

$ # Open new terminal.
$ # Run showimage ROS 2 node to display the cam2image sensor_msg/msg/Image messages.
$ ros2 run image_tools showimage

Launch

1 - camera

$ # Open new terminal.
$ ros2 launch image_tools camera.launch.py
$ # Open new terminal.
$ ros2 run rqt_image_view rqt_image_view

2 - camera_view

$ # Open new terminal.
$ ros2 launch image_tools camera_view.launch.py

Reference:

https://github.com/ros2/demos/tree/foxy/image_tools