Added camera capture app

.gitignore

@@ -1,3 +1,4 @@
 docs/build/
 .vscode
 *.pyc
+survey/

docker-compose.yml

@@ -14,6 +14,7 @@ services:
       XDG_RUNTIME_DIR: "${XDG_RUNTIME_DIR}"
       ROS_MASTER_URI: "http://ros-master:11311"
       RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
+      SDK_ROOT: ${PWD}
 
     volumes:
       # X11 socket

robots/spiri-mu/camera_capture/docker-compose.yaml

@@ -0,0 +1,15 @@
+x-spiri-sdk-doc: Capture camera images for mapping
+
+services:
+  camera-capture:
+    ipc: host
+    network_mode: host
+    restart: unless-stopped
+    image: restreamio/gstreamer:2024-11-14T15-53-57Z-prod
+    volumes:
+      - ${SDK_ROOT}/survey/${ROBOT_NAME}:/survey
+    environment:
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    command: sh -c "rm /survey/* && gst-launch-1.0 -vc udpsrc port=$GSTREAMER_UDP_PORT close-socket=false auto-multicast=true ! application/x-rtp, payload=96 ! rtph264depay ! decodebin3 ! videoconvert ! videorate ! video/x-raw,framerate=1/2 ! jpegenc ! multifilesink location=/survey/img_"frame%d".jpg throttle-time=1"
+
+