update

.gitignore

@@ -1,2 +1,3 @@
 *.pgm
-maps/
+maps/
+__pycache__/

docker-compose.yaml

@@ -227,13 +227,33 @@ services:
       - ./config/foxglove/default.json:/foxglove/default-layout.json
 
   # USB Camera Stream
-  cam:
+  # cam:
+  #   extends: overlay
+  #   command: >
+  #     ros2 run ros2_cam_openCV cam_node
+  #   devices:
+  #     - /dev/video0:/dev/video0
+
+  # cam:
+  #   extends: overlay
+  #   command: >
+  #     ros2 launch ffmpeg_image_transport cam.launch.py
+  #   devices:
+  #     - /dev/video0:/dev/video0
+  #     - /dev/dri:/dev/dri
+  webcam:
     extends: overlay
-    command: >
+    image: husarion/image-transport:humble-4.2.0
-      ros2 run ros2_cam_openCV cam_node
     devices:
       - /dev/video0:/dev/video0
-
+      - /dev/dri:/dev/dri
+    volumes:
+      - ./:/repo
+    command: >
+      ros2 launch /repo/webcam.launch.py
+        ffmpeg_encoding:=libx264
+        ffmpeg_preset:=ultrafast
+        ffmpeg_tune:=zerolatency
 
   # ROS2 Frontier exploration
   explorer:
@@ -369,7 +389,7 @@ services:
   ros1bridge:
     image: husarion/ros1-bridge:foxy-0.9.6-20230327-stable
     command: |
-      ros2 run ros1_bridge dynamic_bridge
+      sh /opt/ros/noetic/setup.sh && ros2 run ros1_bridge dynamic_bridge
     network_mode: host
     ipc: host
     environment:
@@ -387,8 +407,8 @@ services:
     environment:
       - ROS_DOMAIN_ID=5
     restart: always
-    depends_on:
+    #depends_on:
-      - ros1bridge
+    #  - ros1bridge
     command: roslaunch webui-ros-joystick webui.launch
   olivetin:
     container_name: olivetin

webcam.launch.py

@@ -0,0 +1,88 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import TextSubstitution
+
+def generate_launch_description():
+    # Declare launch arguments
+    video_device_arg = DeclareLaunchArgument(
+        'video_device', default_value='/dev/video0',
+        description='Video device path')
+
+    pixel_format_arg = DeclareLaunchArgument(
+        'pixel_format', default_value='YUYV',
+        description='Pixel format')
+
+    output_encoding_arg = DeclareLaunchArgument(
+        'output_encoding', default_value='yuv422_yuy2',
+        description='Output encoding')
+
+    image_size_arg = DeclareLaunchArgument(
+        'image_size', default_value='[640, 480]',
+        description='Image size')
+
+    camera_frame_id_arg = DeclareLaunchArgument(
+        'camera_frame_id', default_value='camera_optical_link',
+        description='Camera frame ID')
+
+    params_file_arg = DeclareLaunchArgument(
+        'params_file', default_value='',
+        description='Path to the parameters file')
+
+    device_namespace_arg = DeclareLaunchArgument(
+        'device_namespace', default_value='camera',
+        description='Device namespace')
+
+    ffmpeg_encoding_arg = DeclareLaunchArgument(
+        'ffmpeg_encoding', default_value='libx264',
+        description='FFMPEG encoding')
+
+    ffmpeg_preset_arg = DeclareLaunchArgument(
+        'ffmpeg_preset', default_value='ultrafast',
+        description='FFMPEG preset')
+
+    ffmpeg_tune_arg = DeclareLaunchArgument(
+        'ffmpeg_tune', default_value='zerolatency',
+        description='FFMPEG tune')
+
+    # v4l2_camera node configuration
+    v4l2_camera_node = Node(
+        package='v4l2_camera',
+        executable='v4l2_camera_node',
+        name='camera',
+        namespace=LaunchConfiguration('device_namespace'),
+        parameters=[
+            {
+                'video_device': LaunchConfiguration('video_device'),
+                'pixel_format': LaunchConfiguration('pixel_format'),
+                'output_encoding': LaunchConfiguration('output_encoding'),
+                'image_size': LaunchConfiguration('image_size'),
+                'camera_frame_id': LaunchConfiguration('camera_frame_id'),
+                'camera_name': LaunchConfiguration('device_namespace'),
+                'camera_link_frame_id': [LaunchConfiguration('device_namespace'), TextSubstitution(text='_link')],
+                'ffmpeg_image_transport.encoding': LaunchConfiguration('ffmpeg_encoding'),
+                'ffmpeg_image_transport.preset': LaunchConfiguration('ffmpeg_preset'),
+                'ffmpeg_image_transport.tune': LaunchConfiguration('ffmpeg_tune'),
+            },
+            LaunchConfiguration('params_file')
+        ],
+        # Add any necessary remappings here
+    )
+
+    # Assemble the launch description
+    return LaunchDescription([
+        video_device_arg,
+        pixel_format_arg,
+        output_encoding_arg,
+        image_size_arg,
+        camera_frame_id_arg,
+        params_file_arg,
+        device_namespace_arg,
+        ffmpeg_encoding_arg,
+        ffmpeg_preset_arg,
+        ffmpeg_tune_arg,
+        v4l2_camera_node
+    ])
+