sample ROS driver using libuvc

CMakeLists.txt

+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro.  This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.0)

Makefile

+include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file

libuvc/Makefile

+#include $(shell rospack find mk)/cmake.mk
+.PHONY: clean download
+
+CMAKE=cmake
+CMAKE_ARGS=-DCMAKE_BUILD_TYPE=Release \
+	   -DCMAKE_INSTALL_PREFIX=`rospack find libuvc`/libuvc
+
+all:
+	mkdir -p build
+	@git clone git://github.com/ktossell/libuvc.git build/git || (echo "INFO: skipping clone"; true)
+	cd build/git && git pull
+	mkdir -p build/build
+	cd build/build && $(CMAKE) ../git $(CMAKE_ARGS)
+	cd build/build && make && make install
+
+clean:
+	rm -rf build libuvc
+

libuvc/manifest.xml

+<package>
+  <description brief="libuvc">
+
+     Device driver library for USB Video Class devices.
+
+  </description>
+  <author>Ken Tossell</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/libuvc</url>
+  <export>
+    <cpp cflags="-I${prefix}/libuvc/include" lflags="-L${prefix}/libuvc/lib -Wl,-rpath,-L${prefix}/libuvc/lib -lros"/>
+    <cpp os="osx" cflags="-I${prefix}/libuvc/include" lflags="-L${prefix}/libuvc/lib -Wl,-rpath,-L${prefix}/libuvc/lib -lrosthread -framework CoreServices"/>
+  </export>
+  <rosdep name="libusb-1.0"/>
+</package>
+
+

libuvc_camera/CMakeLists.txt

+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+rosbuild_add_executable(libuvc_camera src/libuvc_camera.cpp)
+
+

libuvc_camera/Makefile

+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

libuvc_camera/mainpage.dox

+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b uvc_camera_experimental is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

libuvc_camera/manifest.xml

+<package>
+  <description brief="libuvc_camera">
+
+     ROS camera driver using libusb
+
+  </description>
+  <author></author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/libuvc_camera</url>
+  <depend package="roscpp"/>
+  <depend package="sensor_msgs"/>
+  <depend package="libuvc"/>
+</package>
+
+

libuvc_camera/src/libuvc_camera.cpp

+/** @file test_ros_ctrls.cpp Example/test usage of libuvc */
+#include <ros/ros.h>
+#include <sensor_msgs/Image.h>
+#include "libuvc/libuvc.h"
+
+ros::Publisher pub;
+
+void cb(uvc_frame_t *frame) {
+  static uvc_frame_t *rgb_frame = NULL;
+  uvc_error_t uvc_ret;
+
+  if (!rgb_frame)
+    rgb_frame = uvc_allocate_frame(frame->width * frame->height * 3);
+
+  uvc_ret = uvc_any2rgb(frame, rgb_frame);
+
+  if (uvc_ret) {
+    uvc_perror(uvc_ret, "Couldn't convert frame to RGB");
+    return;
+  }
+
+  sensor_msgs::Image image;
+  image.width = rgb_frame->width;
+  image.height = rgb_frame->height;
+  image.encoding = "rgb8";
+  image.step = image.width * 3;
+  image.data.resize(image.step * image.height);
+  memcpy(&(image.data[0]), rgb_frame->data, rgb_frame->data_bytes);
+
+  pub.publish(image);
+}
+
+int main (int argc, char **argv) {
+  ros::init(argc, argv, "libuvc_camera");
+  ros::NodeHandle nh;
+
+  pub = nh.advertise<sensor_msgs::Image>("image_raw", 1);
+
+  uvc_context_t *ctx;
+  uvc_error_t res;
+  uvc_device_t *dev;
+  uvc_device_handle_t *devh;
+  uvc_stream_ctrl_t ctrl;
+
+  res = uvc_init(&ctx, NULL);
+
+  if (res < 0) {
+    uvc_perror(res, "uvc_init");
+    return res;
+  }
+
+  puts("UVC initialized");
+  
+  res = uvc_find_device(
+    ctx, &dev,
+    0,      // vendor
+    0,      // product
+    NULL);  // serial number (string)
+
+  if (res < 0) {
+    uvc_perror(res, "uvc_find_device");
+  } else {
+    res = uvc_open(dev, &devh);
+    if (res < 0) {
+      uvc_perror(res, "uvc_open");
+    } else {
+      puts("Device opened");
+      
+      uvc_print_diag(devh, stderr);
+      
+      res = uvc_get_stream_ctrl_format_size(
+        devh, &ctrl,
+        UVC_COLOR_FORMAT_UNCOMPRESSED, 640, 480, 30);
+      
+      uvc_print_stream_ctrl(&ctrl, stderr);
+      
+      if (res < 0) {
+	uvc_perror(res, "get_mode");
+      } else {
+        res = uvc_start_iso_streaming(devh, &ctrl, cb);
+
+        if (res < 0) {
+          uvc_perror(res, "start_streaming");
+        } else {
+          puts("Streaming...");
+          ros::spin();
+          uvc_stop_streaming(devh);
+        }
+      }
+      
+      uvc_close(devh);
+      puts("Device closed");
+    }
+  }
+  
+  uvc_exit(ctx);
+  puts("UVC exited");
+  
+  return 0;
+}
+

stack.xml

+<stack>
+  <description brief="libuvc_ros">libuvc in ROS</description>
+  <author>Maintained by Ken Tossell</author>
+  <license></license>  
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/libuvc_ros</url>
+  <depend stack="ros" />
+
+</stack>