GoROS2WebcamPublisher

Simple implementation to capture Webcam video and publish it to a ROS2 topic using GOCV

Requires

ROS2 Wrapper: github.com/TIERS/rclgo, ROS2 Messages: github.com/TIERS/rclgo-msgs and GO CV wrapper gocv.io/x/gocv

What is it for?

Made for testing ROS2 nodes, the code takes the computer's webcam image and publishes it to a ROS2 topic. The default topic is /webcam/image, but it can be changed by using CLI flags at run time.

Usage

Build or Run, and use CLI flags as required

Simple Run: go run webcam_publisher.go -topic=/test/topic

After Build: ./webcamPublisher -topic=/test/topic

Flags

• bigendian (uint) Not clear what this data is used for, it was added in case a ROS2 implementation required a specific value Bigendian for the ROS MSG (default 1)
• device (int) Usually the camera device from a laptop works with 0, which is the default number Webcam Device identification (default 0)
• namespace (string) Can be changed if a specific Namespace for the Node must be used Namespace for the ROS node (default "tools")
• node (string) Can be changed if a specific Node name is required, like when running multiple instances ROS node name (default "webcam_to_topic")
• topic (string) Allows for the topic to be changed, no need to change any code Topic to which the image will be published to (default "/webcam/image")
• window (boolean) CV can create a window to show the image directly from the webcam, helps with testing Whether or not to show the image captured by the webcam (default false)