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Provide waffle_pi Camera Functionality Under Humble #975

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spragunr wants to merge 3 commits into ROBOTIS-GIT:humble-devel from spragunr:humble-devel

spragunr commented Jul 26, 2023

This is an updated version of PR #882 (which provided camera functionality under Foxy).

Items to note:

The "legacy" camera driver must be activated by setting the following lines in /boot/firmware/config.txt on the pi:
```
start_x=1
camera_auto_detect=0
```
The user on the pi should be a member of the video group.
Some image topic remapping is done to reduce bandwidth over wifi. The image_transport.launch.py launch file needs to be launched on the workstation.

spragunr added 3 commits

July 21, 2023 13:46


          copy camera code from foxy-devel to humble-devel

51f677b


          add pixel format yuyv2rgb to camera yaml to fix rviz crash

a800aa9


          tidy up camera visualization in rviz

2d21af4

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