bridge-camera-setup

Issue: (Twizy) Using all cameras via PX 2

Link to Issue: https://github.com/orgs/Monash-Connected-Autonomous-Vehicle/projects/8/views/15?pane=issue&itemId=71519558

Usage

to run:

./bridge_setup.sh on twizy terminal

which will:

1. open up a docker image and run roscore
2. set up the bridge
3. ssh into px2 and start cameras

to test:

rviz2 on twizy terminal, click on add > list by topics > click on a camera > image

Attempting to improve camera framerate

• limiting topics sent over the bridge

• turn compressed image into image using command:

ros2 run image_transport republish compressed raw --ros-args --remap in/compressed:=/gmsl_camera/port_0/cam_0/image_raw/compressed --remap out:=/image