noetic

Nodes

camera

A node for image acquisition from an USB camera (OpenCV is used). A special option for this node is that it can be configured to read images from a directory or a video file. Parameters can be changed with the dynamic_reconfigure GUI from ROS. For dynamic parameters, see Camera.cfg

Published Topics

image (sensor_msgs/Image)

• Image stream.

Services

stop_camera (std_srvs/Empty)

• Stop the camera.

start_camera (rtabmap_msgs/ResetPose)

• Start the camera.

Parameters

~frame_id (string, default: "camera")

• The frame attached to the camera.

rtabmap_legacy/data_odom_sync

Synchronize odometry with RGB-D images. Useful to correctly show clouds in RVIZ when odometry refresh rate is low comparatively to clouds to show.

Subscribed Topics

odom_in (nav_msgs/Odometry)

• Odometry stream.

rgb/image_in (sensor_msgs/Image)

• RGB image stream.

depth/image_in (sensor_msgs/Image)

• Registered depth image stream.

rgb/camera_info_in (sensor_msgs/CameraInfo)

• RGB camera metadata.

Published Topics

odom_out (nav_msgs/Odometry)

• Odometry stream.

rgb/image_out (sensor_msgs/Image)

• RGB image stream.

depth/image_out (sensor_msgs/Image)

• Registered depth image stream.

rgb/camera_info_out (sensor_msgs/CameraInfo)

• RGB camera metadata.

Parameters

~queue_size (int, default: 10)

• Size of message queue for each synchronized topic.

rtabmap_legacy/data_throttle

Throttle at a specified rate the OpenNI data. See also rtabmap_sync/rgbd_sync, which is now preferred when publishing remotely.

Subscribed Topics

rgb/image_in (sensor_msgs/Image)

• RGB image stream.

depth/image_in (sensor_msgs/Image)

• Registered depth image stream.

rgb/camera_info_in (sensor_msgs/CameraInfo)

• RGB camera metadata.

Published Topics

rgb/image_out (sensor_msgs/Image)

• RGB image stream.

depth/image_out (sensor_msgs/Image)

• Registered depth image stream.

rgb/camera_info_out (sensor_msgs/CameraInfo)

• RGB camera metadata.

Parameters

~queue_size (int, default: 10)

• Size of message queue for each synchronized topic.

~rate (double, default: 0)

• Maximum frame rate (Hz).

~approx_sync (bool, default: "True")

• Use approximate synchronization for the input topics. If false, the RGB and depth images and the camera info must have the same timestamp.

~decimation (double, default: 1)

• Optional decimation of the RGB and depth images (with corresponding modifications in camera_info_out).

rtabmap_legacy/stereo_throttle

Throttle at a specified rate the stereo data.

Subscribed Topics

left/image_rect (sensor_msgs/Image)

• Left RGB/Mono rectified image.

left/camera_info (sensor_msgs/CameraInfo)

• Left camera metadata.

right/image_rect (sensor_msgs/Image)

• Right Mono rectified image.

right/camera_info (sensor_msgs/CameraInfo)

• Right camera metadata.

Published Topics

[left/image_rect]_throttle (sensor_msgs/Image)

• Left RGB/Mono rectified image.

[left/camera_info]_throttle (sensor_msgs/CameraInfo)

• Left camera metadata.

[right/image_rect]_throttle (sensor_msgs/Image)

• Right Mono rectified image.

[right/camera_info]_throttle (sensor_msgs/CameraInfo)

• Right camera metadata.

Parameters

~queue_size (int, default: 10)

• Size of message queue for each synchronized topic.

~rate (double, default: 0)

• Maximum frame rate (Hz).

~approx_sync (bool, default: "false")

• Use approximate time synchronization of stereo messages. If false, the left/right images and the left/right camera infos must have the same timestamp.

~decimation (double, default: 1)

• Optional decimation of the left and right images (with corresponding modifications in camera infos).