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Video to ROS2 Topic Node

The video_to_ros2_topic package is a ROS 2 node that reads video files (such as MP4, AVI) from a specified path and publishes each frame to a ROS 2 topic at a configurable rate. This node allows users to easily publish video streams to ROS topics for testing and other purposes.

Key Features

  • Video File Publishing: The node reads frames from a specified video file and publishes them to a ROS topic.
  • ROS2 Integration: Publishes frames as sensor_msgs/msg/Image messages that can be used in any ROS2 system.

Prerequisites

Before using this package, make sure the following dependencies are installed:

  1. ROS 2 Foxy or later
  2. cv_bridge
  3. OpenCV (for video processing)

Installing Dependencies

To install the required libraries, run the following commands:

$ sudo apt update
$ sudo apt install ros-${ROS_DISTRO}-cv-bridge python3-opencv

Installation

  1. Clone the repository into your ROS 2 workspace:

    $ cd ~/colcon_ws/src
$ git clone https://github.com/mjlee111/image_recognition.git

  2. Build the workspace:

    $ cd ~/colcon_ws
$ colcon build

  3. Source the workspace:

    $ source ~/colcon_ws/install/setup.bash

Launching the Node

To launch the video_to_ros2_topic_node, use the provided launch file. You can load parameters from a YAML file or pass them directly as launch arguments.

Example launch command:

$ ros2 launch video_to_ros2_topic video_to_topic.py

Parameters

The following parameters can be configured when launching the node:

Parameter Name Type Default Value Description
video_topic string /video_to_topic/image_raw The ROS topic to publish the video frames to.
video_path string <package_share>/videos/test.mp4 The file path to the video to be published.

ROS Topics

Topic Name Message Type Role
/video_to_topic/image_raw sensor_msgs/msg/Image Publishes the video frames from the specified file.

Example Usage

Launch the video publisher node with custom parameters:

$ ros2 launch video_to_ros2_topic video_to_topic.py video_path:=/path/to/your/video.mp4 video_topic:=/custom_video_topic

This command will publish the video located at /path/to/your/video.mp4 to /custom_video_topic.