Thank you for pointing me to the line, that is really helpful. One problem down.
Thank you for putting that in as a parameter. However, I am not sure where I should put this parameter to pass it through, similar to this section I mentioned before:
Or even node_video_source - file?
On a higher-level, maybe we can circumvent the adaptation of entire ROS nodes. The issue for us is that we rely on ros1-melodic at the current stage, since UAVs and flight controller communication are not yet robust enough with ROS2 to move our experiments across. As you discussed in #142517, 20.04 won’t be available anytime soon, and the only solutions would be to use docker or build from source.
We need time-stamped transform data from an external localization system, which is why the rosbag recording is important for us, as it automatically takes care of that. And the potential for use with the standard image_pipeline package, is a major benefit as it would provide post-recording calibration potential. GScam claims to provide these capabilities,
gscam is fully compatible with the ROS Camera interface and can be calibrated to provided rectified images. For details, see the appropriate ROS documentation on the image_pipeline wiki page.
However, I cannot figure out a way to set the correct string for the gstreamer sink that is required - modifying the recommended export GSCAM_CONFIG="v4l2src device=/dev/video2 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace" to – what I assume would be a minimally working string on both ends – export GSCAM_CONFIG="nvarguscamerasrc ! video/x-raw-rgb(memory:NVMM),format=(string)NV12 ! ffmepgcolorspace" resulted only in:
[ INFO] [1608340492.481443660]: Using gstreamer config from env: "nvarguscamerasrc ! video/x-raw-rgb(memory:NVMM),format=(string)NV12 ! ffmepgcolorspace"
[ INFO] [1608340492.488712090]: using default calibration URL
[ INFO] [1608340492.488836102]: camera calibration URL: file:///home/jetson/.ros/camera_info/camera.yaml
[ INFO] [1608340492.489010844]: Unable to open camera calibration file [/home/jetson/.ros/camera_info/camera.yaml]
[ WARN] [1608340492.489090584]: Camera calibration file /home/jetson/.ros/camera_info/camera.yaml not found.
[ INFO] [1608340492.489145950]: Loaded camera calibration from
[ WARN] [1608340492.490017732]: No camera frame_id set, using frame "/camera_frame".
(gscam:12442): GStreamer-WARNING **: 11:14:52.610: 0.10-style raw video caps are being created. Should be video/x-raw,format=(string).. now.
[FATAL] [1608340492.611546851]: GStreamer: cannot link launchpipe -> sink
[FATAL] [1608340492.611783209]: Failed to initialize gscam stream!
Do you have any hints how a feasible string should look like for this case?
Kind regards
Nico