# xap_video

**Repository Path**: autopilot-x/xap_video

## Basic Information

- **Project Name**: xap_video
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-10-19
- **Last Updated**: 2024-10-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## 参数

- video_src      : 默认`/dev/video0`
- video_interval : 话题发布间隔时间，单位毫秒，0表示使用相机默认频率，默认`0`
- frame_id       : 默认`camera`
- raw_video_topic:发布图像话题,默认`/xap/video/raw_video_frame`


## 配置

编辑 `install/xap_video/config/config_video.yaml`文件

## 运行

```shell
$ros2 launch xap_video xap_video_node.launch
```

## 示例
```shell
user@wwpc:/ws$ ros2 launch xap_video xap_video_node.launch 
[INFO] [launch]: All log files can be found below /home/dookit/.ros/log/2024-10-19-03-35-41-362269-wwpc-86
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [xap_video_node-1]: process started with pid [87]
[xap_video_node-1] [INFO] [1729308942.693881957] [xap_video_node]: ========== parameters ==========
[xap_video_node-1] [INFO] [1729308942.694299583] [xap_video_node]: --- video_src      : /dev/video0
[xap_video_node-1] [INFO] [1729308942.694336982] [xap_video_node]: --- video_interval : 0 ms
[xap_video_node-1] [INFO] [1729308942.694360807] [xap_video_node]: --- frame_id       : camera
[xap_video_node-1] [INFO] [1729308942.694380046] [xap_video_node]: --- video_topic    : /xap/video/raw_video_frame
[xap_video_node-1] [INFO] [1729308942.694399767] [xap_video_node]: ========== parameters ==========
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[xap_video_node-1] [INFO] [1729308944.131107153] [rclcpp]: signal_handler(signum=2)
[xap_video_node-1] [ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (2075) handleMessage OpenCV | GStreamer warning: Embedded video playback halted; module source reported: Could not read from resource.
[xap_video_node-1] [ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (1053) open OpenCV | GStreamer warning: unable to start pipeline
[xap_video_node-1] [ WARN:0] global ./modules/videoio/src/cap_gstreamer.cpp (616) isPipelinePlaying OpenCV | GStreamer warning: GStreamer: pipeline have not been created
[xap_video_node-1] [INFO] [1729308944.670614735] [xap_video_node]: >>> starting xap_video_node ...
[xap_video_node-1] [INFO] [1729308944.670628948] [xap_video_node]: >>> quit node : xap_video_node

```