The h264_image_transport's intro from janw23

h264_image_transport's Introduction

h264_image_transport

Adds H264 decoding to ROS2 image transport. Also includes a simple node to copy H264 packets from a video4linux camera.

Possible future work: add H264 encoder

Example usage

Command line:

ros2 run image_transport republish h264 raw --ros-args -r in/h264:=/image_raw/h264 -r out:=/repub_raw

Launch file:

ros2 launch h264_image_transport example_launch.py

h264_cam_node parameters

Parameter	Type	Default	Notes
input_fn	string	/dev/video2	Can be any ffmpeg format
fps	string	30	Desired frame rate
size	string	800x600	Width by height
frame_id	string	camera_frame	Camera frame ID
camera_info_path	string	info.ini	Path to camera info file

h264_cam_node topics

Topic	Message	Notes
image_raw/h264	`h264_msgs::msg::Packet`	H264 packet
camera_info	`sensor_msgs::msg::CameraInfo`	Camera info message

Requirements

Tested on ROS2 Foxy, Galactic and Humble.

Requires libavdevice, libavformat, libavcodec, libavutil, libswscale.

Here's one way to satisfy these requirements:

sudo apt install libavdevice-dev libavformat-dev libavcodec-dev libavutil-dev libswscale-dev

Note: rosdep won't find keys for most of these libraries so package.xml declares dependencies on ffmpeg and libavdevice-dev. Strictly speaking ffmpeg is not required.

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