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GSCam Build Status

This is a ROS package originally developed by the Brown Robotics Lab for broadcasting any GStreamer-based video stream via the standard ROS Camera API. This fork has several fixes incorporated into it to make it broadcast correct sensor_msgs/Image messages with proper frames and timestamps. It also allows for more ROS-like configuration and more control over the GStreamer interface.

Note that this pacakge can be built both in a rosbuild and catkin workspaces.

GStreamer Library Support

gscam supports the following versions of GStreamer

0.1.x: Default

Install dependencies via rosdep.

1.0.x: Experimental

Dependencies:

Ubuntu Install:

12.04
sudo add-apt-repository ppa:gstreamer-developers/ppa
sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
14.04
sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev

Usage:

Notes:

ROS API (stable)

gscam

This can be run as both a node and a nodelet.

Nodes

Topics

Services

Parameters

C++ API (unstable)

The gscam c++ library can be used, but it is not guaranteed to be stable.

Examples

See example launchfiles and configs in the examples directory. Currently there are examples for: