mjpeg_client

ROS nodelets to receive a motion jpeg stream over HTTP and convert it to an image topic

Nodelet: MjpegClient

receives mjpeg stream over HTTP and convert it to sensor_msgs/CompressedImage

Published Topics

image/compressed (sensor_msgs/CompressedImage)

Parameters

~server (string, default: "localhost")

• a descriptive name or a numeric address string of the mjpeg server

~method (string, default: "POST")

• a string corresponding to HTTP request method

~service (string, default: "http")

• a descriptive name (usually "http") or a numeric string corresponding to a port number of the mjpeg server

~target (string, default: "/")

• a string corresponding to HTTP request target

~headers (map<string, string>, default: {{"Accept", "multipart/x-mixed-replace"}})

• a sequence of string pairs corresponding to the field and value of HTTP request header

~body (string, default: "")

• a string corresponding to HTTP request body

~timeout (double, default: 3.0)

• timeout in seconds for communication to the server
• when timeout reached, the connection is reset

~frame_id (string, default: "camera")

• frame id of published images

Nodelet: MjpegDecoder

decompresses sensor_msgs/CompressedImage to sensor_msgs/Image

Subscribed Topics

image/compressed (sensor_msgs/CompressedImage)

Published Topics

image (sensor_msgs/Image)

Examples

see launch/test_axis.launch for general IP cameras such as AXIS, and launch/test_osc.launch for cameras which support Open Spherical Camera API such as RICOH THETA