# raspicam_node

**Repository Path**: EdwardGao/raspicam_node

## Basic Information

- **Project Name**: raspicam_node
- **Description**: Groovy ROS node for camera module of Raspberry Pi
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2017-01-12
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

raspicam_node
=============

Groovy ROS node for camera module of Raspberry Pi

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 Groovy from http://www.ros.org/wiki/groovy/Installation/Raspbian



	sudo apt-get install ros-groovy-image-transport ros-groovy-image-transport-plugins ros-groovy-image-transport-plugins ros-groovy-camera-info-manager




	git clone https://github.com/raspberrypi/userland.git /home/pi/userland

	cd /home/pi

	mkdir catkin_ws



	source /opt/ros/groovy/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