Streaming Camera Data to Separate Application

asked 2013-03-13 10:34:44 -0600

crypticstar
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I am in the process of building an application where I would like to embed the Gazebo simulation environment only into my application and then run non-interactive ROS modules on it. It seems like I should be able to acquire frames from the camera like in the tutorial here and then pipe them elsewhere for display. Does that seem like a feasible way to approach the problem? I don't want to get too deep into hacking and find out what I'm doing isn't viable at all.

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answered 2013-03-14 02:04:21 -0600

iche033
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That is one way of doing it.

The other way is to subscribe to the image topic from your application. This will require your application to compile against gazebo though. Find the topic using gztopic list in command line. This example shows how to subscribe to a topic, and here (line 120 and line 145) shows you how to get the image data from the msg.

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answered 2015-05-21 20:49:29 -0600

Zheng yo chen

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updated 2015-05-21 21:07:13 -0600

here is my example

Preview video: http://www.mediafire.com/watch/yrp2jxkpu6gcu7y/0410.wmv

QT Project:http://www.mediafire.com/download/9q3fbbtb9co9b2t/test.tar.gz

Camera Plugin :http://www.mediafire.com/download/e1tucabw5trich6/CameraPublisher.tar.gz

1.add a camera with CameraPublisher in .world file

2.execute QT application

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Hi Zheng Yo Chen I am interested to learn from your experience. Can you add "multi_obj_evaluation_platform/models/wrench_0_08m" to your example ? I am trying to run your test.world Thanks

mhallak ( 2016-11-29 05:09:44 -0600 )edit

wrench_0_08m is nothing to do with that example, it can work well without that model,you can just simply remove wrench_0_08m. by the way,my example is a dumb implementation. OSRF did live stream by themselves, check this :http://gazebosim.org/blog?page=3 (Gazebo Rendering Abstraction 2015-09-29)

Zheng yo chen ( 2016-12-23 08:29:28 -0600 )edit

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