inital commit

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>cam_opencv</name>
+  <version>0.0.1</version>
+  <description>Using OpenCV to publish UVC camera stream (should be fast?)</description>
+  <maintainer email="bjoern.ellensohn@gmail.com">bjorn</maintainer>
+  <license>Apache License 2.0</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <!-- Dependencies -->
+  <buildtool_depend>ament_python</buildtool_depend>
+  <build_depend>rclpy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>opencv</build_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2_cam_openCV/ros2_cam_openCV/cam_node.py

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+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+class UvcCameraNode(Node):
+    def __init__(self):
+        super().__init__('uvc_camera_node')
+        self.bridge = CvBridge()
+        self.publisher = self.create_publisher(Image, 'camera/image', 10)
+        self.timer = self.create_timer(1/30, self.timer_callback)  # Adjust the interval as needed --> here should be 30 Hz for usb webcam (30fps)
+
+        # Initialize the UVC camera capture
+        self.cap = cv2.VideoCapture(0)  # Modify the index if needed
+
+        # Set the desired resolution
+        width = 640
+        height = 480
+        self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
+        self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
+
+    def timer_callback(self):
+        ret, frame = self.cap.read()
+
+        if ret:
+            # Perform any necessary image processing or hardware acceleration here
+            # Example: Apply a grayscale filter using the GPU-accelerated function
+            frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+
+            # Flip the image
+            frame_flipped = cv2.flip(frame_gray, 0)
+
+            # Convert the processed frame to a ROS Image message
+            # img_msg = self.bridge.cv2_to_imgmsg(frame_gray, 'mono8') # or 'bgr8' for colored image
+            img_msg = self.bridge.cv2_to_imgmsg(frame_flipped, 'mono8')
+
+            # Publish the processed image
+            self.publisher.publish(img_msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = UvcCameraNode()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

setup.cfg

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+[develop]
+script_dir=$base/lib/ros2_cam_openCV
+[install]
+install_scripts=$base/lib/ros2_cam_openCV

setup.py

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+from setuptools import setup
+
+package_name = 'ros2_cam_openCV'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='bjorn',
+    maintainer_email='bjoern.ellensohn@gmail.com',
+    description='Using OpenCV to publish UVC camera stream (should be fast?)',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'cam_node = ros2_cam_openCV.cam_node:main'
+        ],
+    },
+)

test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'