Basic ROS node to publish image from a pixy2 camera.
This code is based in the orginal code erle_pixy for version 1.0.
Follow the following steps.
In order to communicate with Pixy over USB as a non-root user you must set permissions for Pixy.
To do this copy the 'pixy.rules' file to '/etc/udev/rules.d'
sudo cp pixy.rules /etc/udev/rules.d/
Add this folder to catkin_ws/src or similar ROS workspace and then compile the code:
>> cd <your catkin_worspace>
>> catkin_make
You need to load the script:
>> source <your catkin_worspace>/devel/setup.bash
Whit this component you can see the image from Pixy2 Cam.
>>rosrun pixy2_ros pixy2_cam
image_raw to change the desired topic for example:
<remap from="image_raw" to="/camera/rgb/image"/>
frame_rate to change the camera frame rate, from 1 to 60, for example:
<param name="frame_rate" type="int" value="5" />
To visualize the image to need to run:
>>rosrun image_view image_view image:=/image_raw