Description

ROS node to read frames from an ip camera stream and publish to a ROS topic.

To run:

directly: python nodes/ip_camera.py -u http://192.168.100.2:8080/video

using roslaunch: roslaunch ip_camera.launch

Of course, for this to work you should add the ip_camera dir to ROS_PACKAGE_PATH, so 'rospack find' can find ip_camera.

Make sure to replace the video stream ip address with the correct one in ip_camera.launch.

To test frame rate:

rostopic hz --window=1000 /ip_camera

Utils for playing back images:

Also included are the following 2 utilities which help with playing back video streams stored as either bag files or standard video files (.mp4, .avi, etc.):

• bag_play_on_msg.py
• video_play_on_msg.py

Once either of these nodes is started, they publish images on the /camera/image_raw topic on receipt of Bool messages from the /img_processed topic. Typically these messages are generated from the node that consumes the images to signal that it is done processing a frame and is ready for the next.

For testing purposes the Bool messages can be generated using rostopic pub:

for a single message:

$ rostopic pub /img_processed std_msgs/Bool true

to produce a stream of images at a given frequency (here 2 per sec):

$ rostopic pub /img_processed std_msgs/Bool true -r 0.5