coEncoder

Prerequisite

• Have ROS on your system

• Install dependencies

  sudo apt install libavformat-dev libswscale-dev libopencv-dev ros-{ros_distro}-foxglove-msgs -y

Configuration

Edit the configuration parameters in the launch file (coencoder/launch/coencoder.launch):

• ROS1

  <launch>
      <!-- Specify topics requiring H264 encoding -->
      <rosparam param="/coencoder/subscribe_topics">['/camera_1', '/camera_2', '/camera_3']</rosparam>
      <rosparam param="/coencoder/video_resolutions">['1600x900','640x480','1280x720']</rosparam>
  
      <node name="coencoder" pkg="coencoder" type="coencoder" output="screen">
          <param name="output_fps" value="20"/>
          <param name="bitrate" value="400000"/>  
          <param name="depth_image_max_value" value="10000"/>
      </node>
  </launch>

• ROS2

  <launch>
      <node pkg="coencoder" exec="coencoder" name="coencoder" output="screen">
      <param name="output_fps" value="20"/>
      <param name="bitrate" value="400000"/>
      <param name="depth_image_max_value" value="10000"/>
      <param name="subscribe_topics" value="['/Node_1_image', '/Node_2_image']"/>
      <param name="video_resolutions" value="['1920*1080', '1920*1080']"/>
      </node>
  </launch>

• subscribe_topics: Specify one or more topics for H264 encoding. The topic's message types must be sensor_msgs/CompressedImage or sensor_msgs/Image.

• video_resolutions: Specify the resolution for each topic. Ensure a one-to-one correspondence with subscribe_topics.

Compile OR deb install

*** You can install CoEncoder by compiling it yourself. Alternatively, we will also provide a .deb package for installation. ***

• Compile

  • ROS1

    # Copy the project into your ROS workspace
    cp -r {this_repo} {your_ros_ws}/src/
    
    # Source ROS setup and build
    source /opt/ros/{ros_distro}/setup.bash
    
    cd {your_ros_ws}
    
    catkin_make --pkg coencoder install

  • ROS2

    # Copy the project into your ROS workspace
    cp -r {this_repo} {your_ros_ws}/src/
    # Source ROS setup and build
    source /opt/ros/{ros_distro}/setup.bash
    
    cd {your_ros_ws}
    colcon build --packages-select coencoder    

• deb Install

    dpkg -i ros-{ros distro}-coencoder_latest_{system arch}.deb

RUN

• ROS1

  # if install coencoder by Compile, source your workspace  
  source {your_ros_ws}/install/setup.bash
  # if install coencoder by deb, source ros
  source /opt/ros/{ros destro}/setup.bash
  
  roslaunch coencoder coencoder.launch

• ROS2

  # if install coencoder by Compile, source your workspace  
  source {your_ros_ws}/install/setup.bash
  # if install coencoder by deb, source ros
  source /opt/ros/{ros destro}/setup.bash
  
  ros2 launch coencoder coencoder_launch.xml