Phone Camera to Screen Demo - RethinkRobotics/sdk-docs GitHub Wiki

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.

1. Install the camera driver on your android.

   1. Install OpenCV, following the directions here (optional?): OpenCV Manager
   2. Install the app from Google Play: android-camera-viewer from JSK Robotics Laboratory

2. Install the image_transport_plugins on your development machine: $ sudo apt-get install ros-electric-image-transport-plugins

3. Figure out the ip address of your Baxter $ avahi-resolve-host-name baxter.local 192.169.33.77

4. Launch your app and enter the ip address in place of the 'localhost' part.

5. On your dev machine:

    # start up your init'd environment
    $ ./init 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 &

4. NEXT: use republish to echo your images
   $ rosrun image_transport republish compressed in:=/camera/image raw out:=/robot/xdisplay

• http://www.ros.org/wiki/image_transport#republish

• http://www.ros.org/wiki/image_transport
• http://www.ros.org/wiki/image_transport#republish
• http://www.ros.org/wiki/image_view/Troubleshooting
• http://www.ros.org/wiki/compressed_image_transport