Phone Camera to Screen Demo

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.

Raw Steps

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
    192.169.33.77
```
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 republish to echo your images

    $ rosrun image_transport republish compressed in:=/camera/image raw out:=/robot/xdisplay

See Also: http://www.ros.org/wiki/image_transport#republish

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