Reading from Bebop¶
Camera¶
The video stream from Bebop’s front camera is published on image_raw
topic as sensor_msgs/Image
messages. bebop_driver complies with ROS camera interface specifications and publishes camera information and calibration data to camera_info
topic. Due to limitations in Parrot’s ARDroneSDK3, the quality of video stream is limited to 640 x 368 @ 30 Hz. The field of view of this virtual camera (based on our measurements) is ~80 (horizontal) and ~50 (vertical) degrees.
To set the location of camera calibration data, please check this page: Configuring Bebop and the Driver. Since v0.4, the package ships with a default camera caliberation file located at bebop_driver/data/bebop_front_calib.yaml
. Both default node/nodelet launch files, load this file when executing the driver.