A ROS package for publishing image topics from a rgb camera.
This package uses a simple polling way with OpenCV tools to capture images from /dev/videoX device and publish them to ROS. We have tested this with Raspbery Pi camera and Orbbec Astra pro.

• camera_polling.launch Launch the polling node to capture images.

• fps
  Frame rate (f/s).
• camera_index
  The device number of /dev/videoX. If you plug in Astra pro, there will be 2 video devices displayed, and the 2nd(/dev/video1) one is rgb device.
• view
  Whether you want to view the image stream using image_view tool.
• save
  Whether you want to save the image stream using rosbag tool.
• upside_down
  If your camera is set upside down, setting this to true will flip the images vertically.

roslaunch camera_driver_with_opencv camera_polling.launch camera_index:=1 fps:=30 view:=false save:=true upside_down:=true