Feature: Go2 front camera support

[mspringer1]

Hey,

based on the Go2 SDK Multimedia Service Interface (https://support.unitree.com/home/en/developer/Multimedia_Services) it would be possible to add video from the front camera to the go2_driver as sensor_msgs/CompressedImage.

A reference implementation is given under Video streaming

#include <opencv2/opencv.hpp>
using namespace cv;

#include <iostream>
using namespace std;

int main()
{

  VideoCapture cap("udpsrc address=230.1.1.1 port=1720 multicast-iface=<interface_name> ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! video/x-raw,width=1280,height=720,format=BGR ! appsink drop=1", 
            CAP_GSTREAMER);
    
  if (!cap.isOpened()) {
        cerr <<"VideoCapture not opened"<<endl;
        exit(-1);
    }
    
    while (true) {

        Mat frame;

        cap.read(frame);

        imshow("receiver", frame);

        if (waitKey(1) == 27) {
            break;
        }
    }

    return 0;

[Juancams]

Hello @mspringer1

Following the example shown by unitree, in a few weeks the video from the camera that is integrated into the go2_driver will be implemented.

Regarding how to publish it, we had planned to use image_transport.

[mspringer1]

Hey @Juancams

there is also already a ros2 node written in rust for that: https://github.com/tfoldi/ros2_go2_video

[Juancams]

Yes, I know that code, but the idea is to reimplement it in c++ and not use anything from webrtc.

[tfoldi]

you can use any gstreamer based ros2 node to add video feed without doing webrtc

[tfoldi]

added native video support via #24