camera_base

Some base classes for simplifing ROS camera driver node.

Basics

For writing a new ros camera driver, you need to inherit and implement the following two base classes.

camera_node_base

Base class for a camera node. The node will have a dynamic reconfigure server.

Pure virtual functions

virtual void Acquire() = 0;
virtual void Setup(ConfigType& config) = 0;

camera_ros_base

Base class for a ros camera. A Ros camera will have the following common features:

• Camera Publisher
• Camera Info Manager
• Diagnostic Updater

Pure virtual functions

virtual bool Grab(const sensor_msgs::ImagePtr& image_msg) = 0;

ROS API

Published topics

~image_raw (sensor_msgs/Image)

The unprocessed image data.

~camera_info (sensor_msgs/CameraInfo)

Contains the camera calibration (if calibrated) and extra data about the camera configuration.

Services

~set_camera_info (sensor_msgs/SetCameraInfo)

Set the appropriate camera info (TF frame, calibration parameters, ROI etc.)