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Beginner
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Getting the realsense camera data over Mavros

Hi,

I am trying to get the intel realsense camera data over mavros for using on the ground station(laptop)

I was successful in getting the px4 messages over mavrso from Intel Aero using the command

``` roslaunch mavros px4.launch fcu_url:="[gcs_url]:5760@[fcu_url]:5760 ```

The topics get published over mavros from the fcu.

The next step I run the following command from the https://github.com/intel-aero/meta-intel-aero/wiki/05-Autonomous-drone-programming-with-ROS# launching documentation

```roslaunch realsense_camera r200_nodelet_multiple_cameras.launch```

I see the camera topics been published on the intel aero

But I cant see them over mavros on the groundcontrol station (laptop)

Please let me know how can I get the camera topics over mavros on the ground control station?

Intel aero Information

BIOS_VERSION = Aero-01.00.13

OS_VERSION = Ubuntu 16.04.4 LTS"

AIRMAP_VERSION = unknown

FPGA_VERSION = 0xc2

AeroFC firmware version = 1.6.5

Thanks in advance,

Aniket

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Community Manager
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Hi Aniket,

 

 

Thank you for your interest in the Intel Aero drone.

 

Please let me look into it and I will get back to you later.

 

 

Regards,

 

Alexandra
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Community Manager
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Hi Aniket,

 

 

You may find the links below helpful:

 

https://github.com/intel-aero/meta-intel-aero/wiki/05-Autonomous-drone-programming-with-ROS# launching https://github.com/intel-aero/meta-intel-aero/wiki/05-Autonomous-drone-programming-with-ROS# launching

 

https://github.com/mavlink/mavros/issues/574 https://github.com/mavlink/mavros/issues/574

 

Could you also tell me what do you mean by "Please let me know how can I get the camera topics over mavros on the ground control station?"

 

 

Regards,

 

Alexandra
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Beginner
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Hi Alexandra,

Thanks for pointing those two links out. I am following those for getting the video streams in qground control.

But I want to get those streams to be published as images in the image_raw or theora rostopics for the following reasons.

1) I would like to do some image processing on the ground control station

2) I would like those streams to be accessed over wifi by other robots as well.

I am able to access the mavros topics over on the ground control station once I connect to the intel drone hotspot.

Thus I thought it would be possible to achieve similar for the video stream as well either over mavros ( which probaly is not possible) or some other video pipeline compatible with ROS.

The application that I am trying to use this for is multi-robot exploration

Thanks,

Aniket

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Community Manager
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Hi Aniket,

 

 

You may find this helpful:

 

http://wiki.ros.org/realsense_camera

 

 

Regards,

 

Alexandra
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Beginner
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Hi Alexandra,

I get the intel real sense cameras running locally on the intel aero RTF drone.

But I want to access those topics over wifi on the ground control station (like a desktop).

In addition to that, is there any way to get the bottom black and white camera feed as a sensor_msgs/Image over ROS as well.

Regards,

Aniket

intel_corp

intel_admin

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Community Manager
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Hi Aniket,

 

 

Your first question is really specific to RealSense and ROS, so the RealSense community will be able to provide more detailed help and information.

 

 

Also, you can't get those streams due to a limitation:

 

https://github.com/intel-aero/meta-intel-aero/wiki/06-Cameras-and-Video# take-a-photo-with-the-black-and-white-camera https://github.com/intel-aero/meta-intel-aero/wiki/06-Cameras-and-Video# take-a-photo-with-the-black-and-white-camera

 

 

The link below might also be helpful:

 

https://github.com/intel-aero/meta-intel-aero/wiki/06-Cameras-and-Video# rtsp-streaming-with-the-camera-streaming-daemon https://github.com/intel-aero/meta-intel-aero/wiki/06-Cameras-and-Video# rtsp-streaming-with-the-camera-streaming-daemon

 

 

Regards,

 

Alexandra
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Beginner
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Hi Alexandra,

Thanks for the above tip. I will post the message on the real sense community and see what they respond.

The bottom cameras are not VGA and also not v4l2 compatible thats why I cannot get the stream working in OpenCV as well.

Even this piece of code for launching the gst streamer as posted on the wiki fails to work.

https://github.com/intel-aero/meta-intel-aero/wiki/06-Cameras-and-Video# take-a-rgb-photo https://github.com/intel-aero/meta-intel-aero/wiki/06-Cameras-and-Video# take-a-rgb-photo

This is the specific line of code I am talking about

'''shell

sudo gst-launch-1.0 v4l2src device=/dev/video13 num-buffers=1 ! jpegenc ! filesink location="rs.jpg"'''

Thanks,

Aniket

intel_corp, intel_admin, realsense,

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Community Manager
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Hi Aniket,

 

 

I tested this and it worked.

 

Check with ls /dev/video* if the camera drivers are correctly installed.

 

Could you tell me what error are you getting when running this?:

 

sudo gst-launch-1.0 v4l2src device=/dev/video13 num-buffers=1 ! jpegenc ! filesink location="rs.jpg

 

 

Regards,

 

Alexandra
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