无人机用ROS(1)传输压缩图片

系统信息

PC：Ubuntu 20.04.4 LTS + ROS noetic
UAV：Tinker Edge R + Debian buster + ROS noetic + Raspbarry Pi Camera V2

软件

PC端

安装解压工具包：

sudo apt install ros-${ROS_DISTRO}-image-transport-plugins

UAV端

使用gscam的例程v4ljpeg.launch，做必要的修改：

<launch>
  <!-- This launchfile should bring up a node that broadcasts a ros image
       transport on /webcam/image_raw -->

  <arg name="DEVICE" default="/dev/video5"/>
  <!-- The GStreamer framerate needs to be an integral fraction -->
  <arg name="FPS" default="30/1"/>
  <arg name="PUBLISH_FRAME" default="false"/>

  <node ns="v4l" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
    <param name="camera_name" value="default"/>
    <param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
    <param name="gscam_config" value="v4l2src device=$(arg DEVICE) do-timestamp=true is-live=true ! video/x-raw,width=640,height=480,format=NV12,framerate=$(arg FPS) ! videoflip method=rotate-180 ! jpegenc ! multipartmux ! multipartdemux ! jpegparse"/>
    <param name="use_gst_timestamps" value="true"/>
    <param name="image_encoding" value="jpeg"/>
    <param name="frame_id" value="/v4l_frame"/>
    <param name="sync_sink" value="true"/>
  </node>

</launch>