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This is a pywb Test.
The idea is just to get your webcam into a ROS standard sensor_msgs/Image message, and then publish it on /robot/xdisplay, which takes Image messages and puts them on a screen.
Install and Run
To get the webcam image as a ROS sensor_msgs/Image, we use a library called gscam from Brown's perception library:
$ sudo apt-get install ros-groovy-brown-perception
To just get it to run:
$ cd ~/ros_ws/
$ ./baxter.sh
$ roscd gscam
$ cd bin
#Find webcam device path
$ ls /dev/video*
/dev/video0
$ export GSCAM_CONFIG="v4l2src device=/dev/video0 ! video/x-raw-rgb,framerate=30/1 ! ffmpegcolorspace"
$ rosrun gscam gscam /gscam/image_raw:=/robot/xdisplay
Explanation:
The steps are, from an init'd environment, cd to the new package, figure out what webcams are connected and setup your configuration appropriately, then start the streamer with a topic remapping from the standard topic it publishes webcam images on to the receiving xdisplay topic for Baxter's screen.
