[ros-users] Digital Camera 1394 in ROS?

Tully Foote tfoote at willowgarage.com
Thu Mar 11 21:24:40 UTC 2010

RE: Nodelet status

Please do keep in mind that the nodelets have been released at version 0.1
This is effectively an internal release as a first step toward developing
C-Turtle the next distribution.
<http://www.ros.org/wiki/StackVersionPolicy>This means that the API is
not stable and will change.  We are targeting 1.0
stability for nodelets in the C-Turtle distribution.

in general, please don't build production applications on anything until
they have reached 1.0 status, or be willing to follow the path of
development.  For more information on release version policy please see:

That said, feel free to experiment with nodelets and try them out. I have
tried to document everything and am building unit tests and hopefully soon
tutorials.  Any feedback is appreciated.  User feedback is necessary to make
nodelets work well in the system.  We will be starting to use them
internally to get feedback, with the understanding that when the API changes
all developers are responsible for promptly updating their own usages of the
nodelet API.


On Thu, Mar 11, 2010 at 9:48 AM, Radu Bogdan Rusu <rusu at willowgarage.com>wrote:

> The nodelets have been released yesterday with common 1.1, but you need to
> wait until roscpp comes out with ROS core 1.1
> to take advantage of the data passing optimizations.
> Jack O'Quin wrote:
> > On Thu, Mar 11, 2010 at 4:20 AM, Rosen Diankov <rosen.diankov at gmail.com>
> wrote:
> >> hi all,
> >>
> >> Sorry for joining this heated discussion late.
> >>
> >> The decision for including opencv into cameradc1394 was because we
> >> wanted minimal latency for publishing an undistorted image with the
> >> correct compression. In the past, ROS messages were being sent over
> >> TCP/IP, and such a decision was necessary. However, with the recent
> >> 'nodelet' feature that allows image messages to be passed as pointers,
> >> it makes much more sense to remove the opencv dependency from
> >> cameradc1394 and make it consistent with the rest of the camera
> >> drivers. Given that camera_drivers is released as a stack, this also
> >> means that i would not be able to fix bugs in real-time if
> >> cameradc1394 was offered as part of it.
> >
> > Good point. Nodelet support will be important for all the camera drivers.
> >
> > Is there a release schedule for this package yet? Is the preliminary
> > version in good enough shape for us to experiment with it?
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
> _______________________________________________
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Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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