v4l2_camera

A ROS 1 camera driver using Video4Linux2 For Canlab (V4L2).

System Requirements

Requirements:

• CANLAB CLEB-G-Series (GUIDE)
• CANLAB CLV-G-Series (GUIDE)
• CANLAB CLMU-G-Series (GUIDE)
• ROS 1 Noetic

Download Pacakage

If you need to modify the code or ensure you have the latest update you will need to clone this repo then build the package.

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone --branch noetic https://github.com/canlab-co/ros1_v4l2_camera.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

Usage

Publish camera images, using the parameters:

    # launch the usb_cam executable
    CLV-G-Series : roslaunch usb_cam v4l2_camera_clv.launch

    /* CLEB-G-01A */
    # CLCC-G-01X
    roslaunch usb_cam v4l2_camera_cleb.launch image_size:="[1920, 1080]" cam:={x}
    # CLCC-G-02X
    roslaunch usb_cam v4l2_camera_cleb.launch image_size:="[2048, 1280]" cam:={x}

    /* CLMU-G-Series */
    # CLCC-G-01X
    roslaunch usb_cam v4l2_camera_clmu.launch image_size:="[1920, 1080]" cam:={x}
    # CLCC-G-02X
    roslaunch usb_cam v4l2_camera_clmu.launch image_size:="[2048, 1280]" cam:={x}

Note: If the number of camera channels you want to use is 3, you can enter cam:=3.

    1CH camera (1 node)
    # run the executable with default settings:        
    rosrun usb_cam usb_cam_node (default : /dev/video0, [1920, 1080])

    # run the executable with customized settings:
    rosrun usb_cam usb_cam_node _video_device:=/dev/video{x} _image_width:={w} _image_height:={h}

Preview the image (open another terminal):

    rosrun rqt_image_view rqt_image_view

Nodes

usb_cam_node

The usb_cam_node interfaces with standard V4L2 devices and publishes images as sensor_msgs/Image messages.

Published Topics

• /image_raw - sensor_msgs/Image

  The image.

Parameters

• video_device - string, default: "/dev/video0"

  The device the camera is on.

• pixel_format - string, default: "UYVY"

  The pixel format to request from the camera. Must be a valid four character 'FOURCC' code supported by V4L2 and by your camera. The node outputs the available formats supported by your camera when started.
  Currently supported: "UYVY"

• output_encoding - string, default: "yuv422"

  The encoding to use for the output image.
  Currently supported: "yuv422".

• image_size - integer_array, default: [1920, 1080]

  Width and height of the image.
  Currently supported:
  CLMU-G-Series - [1920, 1080] [2048, 1280]
  CLEB-G-01A - [1920, 1080] [2048, 1280]

• cam - integer

  The number of camera channels.
  Currently supported:
  CLMU-G-Series(default: 6)
  CLEB-G-01A(default: 4)

• Camera Control Parameters

  Not Support