GoPro-ROS2

ROS2 Python package for integrating the GoPro camera with the ROS2 framework.

Install

Clone and build this repository inside the src folder of a ROS2 workspace.

cd <ros2_ws>/src/
git clone https://github.com/sandeepzachariah/GoPro-ROS2.git
cd ..
colcon build
source install/setup.sh

Usage

1. Turn on the GoPro camera and connect it to the PC via USB.
2. Run the script to set the GoPro camera to webcam mode (courtesy of gopro_as_webcam_on_linux).

sh scripts/webcam_service.sh

Press 'Enter' when prompted.
3. Open a new terminal and launch the go_pro_launch file.

ros2 launch <pkg_name> go_pro_launch.py

To subtract a measured latency from the published ROS image timestamps, pass the offset in milliseconds:

ros2 launch camera_cpp go_pro_launch.py latency_offset_ms:=261.3

The same corrected timestamp is used for both the image and camera info messages.

Configuration

Calibrate the camera and place the calibrated camera parameter files in the config/camera_params.yaml file. ROS2 provides a camera calibration package.