Building a Webcam Display

Tutorials

• InstallingandConfiguringROSEnvironment
• Creating a Package
• Quigley, Gerkey & Smart chapter 2
• Image Transport Tutorials

Build the Workspace

For Jade (or Indigo)

The following is done in the Jade environment (bashrc had the following).

  source /opt/ros/jade/setup.bash

  mkdir -p ~/catkin_ws/src
  cd ~/catkin_ws/src/
  catkin_init_workspace 
  cd ..
  catkin_make
  . devel/setup.bash 
  echo $ROS_PACKAGE_PATH
  cd src/
  catkin_create_pkg follow std_msgs rospy roscpp
  cd ..
  catkin_make
  . ~/catkin_ws/devel/setup.bash

To move to Indigo I started with a clean directory and made appropriate modifications, e.g.:

   mkdir -p ~/catkin_ws_indigo/src

.bashrc For Indigo

Experiment - setup.bash add this workspace to ROS_PACKAGE_PATH in a particular shell. I did the above in the Indigo environment - when bashrc had the following.

 source /opt/ros/indigo/setup.bash
 
 echo $ROS_PACKAGE_PATH
     /opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/eepp/ros_packages
 . devel/setup.bash 
 echo $ROS_PACKAGE_PATH
     /home/eepp/catkin_ws_indigo/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks

also added the following to .bashrc

 source /home/eepp/catkin_ws_indigo/devel/setup.bash

Package Setup

TBD: First pass - all these files need to be cleaned up.

• Subscribing To Images. The tutorial where I got the code.

In ~/catkin_ws/src/follow

• CMakeLists.txt v1
• Camera Display package.xml

In ~/catkin_ws/src/follow/src

• camera_display.cpp my modified source

Build

  cd ~/catkin_ws
  catkin_make

Test

TBD: clean up the next line

 roscore
 rosrun usb_cam usb_cam_node ~video_device "/dev/video0"
 rosrun follow camera_display