This is a pywb Test.
Publishing your Android webcam to Baxter's screen
The general idea is to download an app on your phone that grabs your phone's webcam, transforms it into a ROS image message, connects to your ROS master on Baxter, then publishes the compressed image as a ROS topic. Then you need to grab that compressed image, convert it into a raw_image, and republish it to the screen display topic.
- Install the camera driver on your android.
- Install OpenCV, following the directions here (optional?): OpenCV Manager
- Install the app from Google Play: android-camera-viewer from JSK Robotics Laboratory
- Install the image_transport_plugins on your development machine:
$ sudo apt-get install ros-groovy-image-transport-plugins
- Figure out the ip address of your Baxter (replace <baxter_name> with your Robot Hostname).
$ avahi-resolve-host-name <baxter_name>.local 22.214.171.124
- Launch your app and enter the ip address in place of the 'localhost' part.
- On your dev machine:
# start up your init'd environment $ ./baxter.sh 192.168.33.77 $ rostopic list /camera /camera/camera_info /camera/image/compressed # start image_viewer with appropriate compression, # Note /compressed is a transport of the /camera/image image topic $ rosrun image_view image_view image:=/camera/image compressed &
- NEXT: use
republishto echo your images
$ rosrun image_transport republish compressed in:=/camera/image raw out:=/robot/xdisplay