An OpenCV-based ROS node for serving images from different sources, including:

• sequential list of images (format: [HEADER]_[IMAGE_ID].[EXTENSION])
• sequential list of images with time-synchronization log file (log file format: [HEADER]_[FIRST_IMAGE_ID].log)
• video file
• video device (must be supported by OpenCV)

• either have frames streamed on a ROS topic automatically (while time-synchronized),
• or poll individual frames manually using a ROS service call
• in poll mode, frames can either be polled while time-synchronized or on a frame-per-frame basis (not applicable for VideoDeviceSource)
• dynamically adjust the time synchronization multiplier using a ROS service call
• seek to specific position-ratio (for seekable media sources only)
• set the media source to repeat (not applicable for VideoDeviceSource)
• create a logged sequence of images while streaming from a video device source

libboost-date-time-dev, libboost-filesystem-dev, libboost-system-dev, libboost-thread-dev, libopencv-dev, libexiv2-dev

Here are brief instructions for viewing the sample video file using media_server and image_view. On 4 separate terminals, run:

• TERM_1 > roscore
• TERM_2 > rosrun rqt_image_view rqt_image_view and select /source/image_raw
• TERM_3 > rosrun media_server media_server image:=/source/image_raw (optional parameters: ['raw'|'theora'|'compressed'] [ROS_NODE_IDLE_AFTER_SOURCE_IS_DONE])
• TERM_4 > rosservice call load_video_file true [PATH_TO_media_server]/input/sample.avi 1.0 1 (the parameters for LoadVideoFile.srv are: [STREAM_MODE] [VIDEO_FILE] [TIME_MULTIPLIER] [REPEAT])

Info on other available services can be found by running:

• > rosservice list
• > rosservice type [SERVICE_NAME] | rossrv show