use the v4l2_buffer timestamp if available. #75

usb_cam.cpp is building but untested #103

Builds but crashes immediately after running

data is getting published, no image shown

image shown, frame rate is very slow #103

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package usb_cam
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.7 (2018-10-29)
+------------------
+
+* ROS2 version
+
 0.3.6 (2017-06-15)
 ------------------
 * .travis.yml: udpate to trusty

CMakeLists.txt

@@ -1,34 +1,24 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(usb_cam)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS image_transport roscpp std_msgs std_srvs sensor_msgs camera_info_manager)
+
+# find_package(camera_info_manager REQUIRED)
+# find_package(image_transport REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 
 ## pkg-config libraries
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(avcodec libavcodec REQUIRED)
 pkg_check_modules(swscale libswscale REQUIRED)
 
-###################################################
-## Declare things to be passed to other projects ##
-###################################################
-
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-)
-
-###########
-## Build ##
-###########
-
 include_directories(include
-  ${catkin_INCLUDE_DIRS}
   ${avcodec_INCLUDE_DIRS}
   ${swscale_INCLUDE_DIRS}
 )
@@ -38,7 +28,6 @@ add_library(${PROJECT_NAME} src/usb_cam.cpp)
 target_link_libraries(${PROJECT_NAME}
   ${avcodec_LIBRARIES}
   ${swscale_LIBRARIES}
-  ${catkin_LIBRARIES}
 )
 
 ## Declare a cpp executable
@@ -47,26 +36,21 @@ target_link_libraries(${PROJECT_NAME}_node
   ${PROJECT_NAME}
   ${avcodec_LIBRARIES}
   ${swscale_LIBRARIES}
-  ${catkin_LIBRARIES}
+  # TODO(lucasw) should this have been in libavcodec?
+  avutil
 )
 
-#############
-## Install ##
-#############
-
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ament_target_dependencies(${PROJECT_NAME}
+  "builtin_interfaces"
+  "rclcpp"
+  "sensor_msgs"
+  "std_msgs"
+  "std_srvs"
 )
 
-## Copy launch files
-install(DIRECTORY launch/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-  FILES_MATCHING PATTERN "*.launch"
-)
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node DESTINATION lib/${PROJECT_NAME})
+install(PROGRAMS scripts/show_image.py DESTINATION lib/${PROJECT_NAME})
 
-install(DIRECTORY include/${PROJECT_NAME}/
-   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-)
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+ament_package()

README.md

@@ -1,10 +1,10 @@
 usb_cam [![Build Status](https://api.travis-ci.org/bosch-ros-pkg/usb_cam.png)](https://travis-ci.org/bosch-ros-pkg/usb_cam)
 =======
 
-#### A ROS Driver for V4L USB Cameras
+#### A ROS2 Driver for V4L USB Cameras
 This package is based off of V4L devices specifically instead of just UVC.
 
-For full documentation, see [the ROS wiki](http://ros.org/wiki/usb_cam).
+For ros1 documentation, see [the ROS wiki](http://ros.org/wiki/usb_cam).
 
 [Doxygen](http://docs.ros.org/indigo/api/usb_cam/html/) files can be found on the ROS wiki.
 

include/usb_cam/usb_cam.h

@@ -52,10 +52,23 @@ extern "C"
 #define AV_CODEC_ID_MJPEG CODEC_ID_MJPEG
 #endif
 
+#include <builtin_interfaces/msg/time.hpp>
+#include <rclcpp/time.hpp>
+// #include <sensor_msgs/msg/image.h>
 #include <string>
 #include <sstream>
 
-#include <sensor_msgs/Image.h>
+#define ROS_INFO(msg, ...) printf(msg,  ##__VA_ARGS__)
+#define ROS_ERROR(msg, ...) printf(msg,  ##__VA_ARGS__)
+#define ROS_WARN(msg, ...) printf(msg,  ##__VA_ARGS__)
+#define ROS_DEBUG(msg, ...) printf(msg,  ##__VA_ARGS__)
+// #define ROS_DEBUG(msg, ...) // ##__VA_ARGS__
+#define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
+
+#define INFO(msg) std::cout << "I [" << __FILENAME__ << ":" << __LINE__ << " " << __FUNCTION__ << "] " << msg << "\n"
+#define WARN(msg) std::cout << "W [" << __FILENAME__ << ":" << __LINE__ << " " << __FUNCTION__ << "] " << msg << "\n"
+#define ERROR(msg) std::cerr << "E [" << __FILENAME__ << ":" << __LINE__ << " " << __FUNCTION__ << "] " << msg << std::endl
+#define ROS_ERROR_STREAM(msg) ERROR(msg)
 
 namespace usb_cam {
 
@@ -75,36 +88,40 @@ class UsbCam {
   ~UsbCam();
 
   // start camera
-  void start(const std::string& dev, io_method io, pixel_format pf,
+  bool start(const std::string& dev, io_method io, pixel_format pf,
 		    int image_width, int image_height, int framerate);
   // shutdown camera
-  void shutdown(void);
+  bool shutdown(void);
 
   // grabs a new image from the camera
-  void grab_image(sensor_msgs::Image* image);
+  // bool get_image(sensor_msgs::msg::Image:::SharedPtr image);
+  bool get_image(builtin_interfaces::msg::Time& stamp,
+      std::string& encoding, uint32_t& height, uint32_t& width,
+      uint32_t& step, std::vector<uint8_t>& data);
 
   // enables/disable auto focus
-  void set_auto_focus(int value);
+  bool set_auto_focus(int value);
 
   // Set video device parameters
-  void set_v4l_parameter(const std::string& param, int value);
-  void set_v4l_parameter(const std::string& param, const std::string& value);
+  bool set_v4l_parameter(const std::string& param, int value);
+  bool set_v4l_parameter(const std::string& param, const std::string& value);
 
   static io_method io_method_from_string(const std::string& str);
   static pixel_format pixel_format_from_string(const std::string& str);
 
-  void stop_capturing(void);
-  void start_capturing(void);
+  bool stop_capturing(void);
+  bool start_capturing(void);
   bool is_capturing();
 
  private:
+  // TODO(lucasw) just store an Image shared_ptr here
   typedef struct
   {
     int width;
     int height;
     int bytes_per_pixel;
     int image_size;
-    ros::Time stamp;
+    builtin_interfaces::msg::Time stamp;
     char *image;
     int is_new;
   } camera_image_t;
@@ -117,20 +134,21 @@ class UsbCam {
 
 
   int init_mjpeg_decoder(int image_width, int image_height);
-  void mjpeg2rgb(char *MJPEG, int len, char *RGB, int NumPixels);
-  void process_image(const void * src, int len, camera_image_t *dest);
-  int read_frame();
-  void uninit_device(void);
-  void init_read(unsigned int buffer_size);
-  void init_mmap(void);
-  void init_userp(unsigned int buffer_size);
-  void init_device(int image_width, int image_height, int framerate);
-  void close_device(void);
-  void open_device(void);
-  void grab_image();
+  bool mjpeg2rgb(char *MJPEG, int len, char *RGB, int NumPixels);
+  bool process_image(const void * src, int len, camera_image_t *dest);
+  bool read_frame();
+  bool uninit_device(void);
+  bool init_read(unsigned int buffer_size);
+  bool init_mmap(void);
+  bool init_userp(unsigned int buffer_size);
+  bool init_device(int image_width, int image_height, int framerate);
+  bool close_device(void);
+  bool open_device(void);
+  bool grab_image();
   bool is_capturing_;
 
 
+  rclcpp::Clock::SharedPtr clock_;
   std::string camera_dev_;
   unsigned int pixelformat_;
   bool monochrome_;