Ubuntu利用ROS搭建手机移动网络摄像头(Android)

所需设备
PC -> Ubuntu 16.04 - > ROS Kinetic
Android系统手机

1、Android移动端APP下载安装

  配置手机端:(一般默认即可RTSP)

Ubuntu利用ROS搭建手机移动网络摄像头(Android)

2、源码下载(rocon_devices_kinetic)

  将文件解压在catkin_ws/src文件夹;

Ubuntu利用ROS搭建手机移动网络摄像头(Android)

3、编译

catkin_make

4、配置

source xxx/devel/setup.bash  (×××是路径)

5、查看手机端接口,并配置

export ROCON_RTSP_CAMERA_RELAY_URL=rtsp://×××:5540/ch0   (×××是IP)

6、运行驱动

roslaunch rocon_rtsp_camera_relay rtsp_camera_relay.launch --screen

Ubuntu利用ROS搭建手机移动网络摄像头(Android)

7、查看ros接口

rostopic list 
/rosout
/rosout_agg
/rtsp_camera_relay/camera_info
/rtsp_camera_relay/image
/rtsp_camera_relay/image/compressed
/rtsp_camera_relay/image/compressed/parameter_descriptions
/rtsp_camera_relay/image/compressed/parameter_updates
/rtsp_camera_relay/image/compressedDepth
/rtsp_camera_relay/image/compressedDepth/parameter_descriptions
/rtsp_camera_relay/image/compressedDepth/parameter_updates
/rtsp_camera_relay/image/theora
/rtsp_camera_relay/image/theora/parameter_descriptions
/rtsp_camera_relay/image/theora/parameter_updates
/rtsp_camera_relay/status

8、数据可视化

rosrun image_view image_view image:=/rtsp_camera_relay/image

Ubuntu利用ROS搭建手机移动网络摄像头(Android)

  

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