Camera Node
Camera image forwarding node
Topic
| Topic |
Description |
| /camera/head_back_fisheye |
Head rear fisheye camera |
| /camera/head_left_fisheye |
Head left fisheye camera |
| /camera/head_right_fisheye |
Head right fisheye camera |
| /camera/head_stereo_left |
Head stereo left camera |
| /camera/head_stereo_right |
Head stereo right camera |
| /camera/hand_left |
Wrist depth camera |
| /camera/hand_right |
Wrist depth camera |
| /camera/head_color |
Head RGB camera |
| /camera/head_depth |
Head depth camera |
| /camera/hand_left_depth |
Left wrist depth camera |
| /camera/hand_right_depth |
Right wrist depth camera |
Message Type
sensor::msgs::msg::Image
| Field |
Type |
Description |
| header |
std_msgs/Header |
Message header, contains timestamp and coordinate frame information |
| height |
uint32 |
Image height (number of pixel rows) |
| width |
uint32 |
Image width (number of pixel columns) |
| encoding |
string |
Encoding format string for pixel data |
| is_bigendian |
bool |
Data byte order (true indicates big-endian) |
| step |
uint32 |
Number of bytes occupied by a single row of data |
| data |
uint8[] |
Raw pixel data of the image |
Single-Channel Image
| Encoding |
Description |
Bytes per Pixel |
| mono8 |
8-bit grayscale image |
1 |
| mono16 |
16-bit grayscale image |
2 |
| bayer_bggr8 |
Bayer BGGR format |
1 |
| bayer_rggb8 |
Bayer RGGB format |
1 |
Multi-Channel Image
| Encoding |
Description |
Bytes per Pixel |
| bgr8 |
8-bit BGR color |
3 |
| rgb8 |
8-bit RGB color |
3 |
| bgra8 |
8-bit BGRA with alpha |
4 |
| rgba8 |
8-bit RGBA with alpha |
4 |
Launch Method
1. Launch with Default Configuration
source ~/.cache/agibot/app/gdk/scripts/ros_env.sh gdk_camera_compress
ros2 launch gdk_camera camera.launch.py
/camera/head_back_fisheye
- /camera/head_left_fisheye
- /camera/head_right_fisheye
- /camera/head_stereo_left
- /camera/head_stereo_right
- /camera/hand_left_color
- /camera/hand_right_color
- /camera/head_color
- /camera/head_depth
- /camera/hand_left_depth
- /camera/hand_right_depth
2. Custom Camera Topics
source ~/.cache/agibot/app/gdk/scripts/ros_env.sh gdk_camera
# Launch only specific Camera topics
#ros2 launch gdk_camera camera.launch.py camera_topics:="/camera/head_color,/camera/head_depth"
# Launch a single Camera topic
#ros2 launch gdk_camera camera.launch.py camera_topics:="/camera/head_color"
# Launch fisheye cameras
#ros2 launch gdk_camera camera.launch.py camera_topics:="/camera/head_back_fisheye,/camera/head_left_fisheye,/camera/head_right_fisheye"
# Launch hand cameras
#ros2 launch gdk_camera camera.launch.py camera_topics:="/camera/hand_left_color,/camera/hand_right_color"
# Launch hand depth cameras
#ros2 launch gdk_camera camera.launch.py camera_topics:="/camera/hand_left_depth,/camera/hand_right_depth"