44 lines
1.0 KiB
Markdown
44 lines
1.0 KiB
Markdown
# Camera Publisher
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ROS 2 node that captures frames from a V4L2 USB camera using GStreamer and publishes them as `sensor_msgs/Image` messages.
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---
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## Architecture
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```
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USB Camera → v4l2src (GStreamer) → sensor_msgs/Image → /camera/image_raw
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```
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No OpenCV or cv_bridge required. Frames are captured via `v4l2src` and passed directly into the ROS 2 message.
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---
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## Published topics
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| Topic | Type | Description |
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| `/<CAMERA_NAMESPACE>/image_raw` | `sensor_msgs/Image` | Raw camera frames |
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---
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## Environment variables
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| Variable | Default | Description |
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| `VIDEO_DEVICE` | `/dev/video0` | V4L2 device path |
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| `WIDTH` | `640` | Capture width in pixels |
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| `HEIGHT` | `480` | Capture height in pixels |
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| `FPS` | `30` | Capture frame rate |
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| `CAMERA_FORMAT` | `raw` | Capture format (`raw` or `mjpeg`) |
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| `CAMERA_NAMESPACE` | `/camera` | ROS 2 namespace (topic becomes `/<ns>/image_raw`) |
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---
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## Finding your camera device
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```bash
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v4l2-ctl --list-devices
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v4l2-ctl -d /dev/video0 --list-formats-ext
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```
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