Added rover catkin packages

rover/gscam/README.md

@@ -0,0 +1,56 @@
+GSCam
+=====
+
+This is a ROS package originally developed by the [Brown Robotics
+Lab](http://robotics.cs.brown.edu/) for broadcasting any
+[GStreamer](http://gstreamer.freedesktop.org/)-based video stream via the
+standard [ROS Camera API](http://ros.org/wiki/camera_drivers). This fork has
+several fixes incorporated into it to make it broadcast correct
+`sensor_msgs/Image` messages with proper frames and timestamps. It also allows
+for more ROS-like configuration and more control over the GStreamer interface.
+
+Note that this pacakge can be built both in a rosbuild and catkin workspaces.
+
+ROS API (stable)
+----------------
+
+### gscam
+
+This can be run as both a node and a nodelet.
+
+#### Nodes
+ * `gscam`
+
+#### Topics
+ * `camera/image_raw`
+ * `camera/camera_info`
+
+#### Services
+ * `camera/set_camera_info`
+
+#### Parameters
+ * `~camera_name`: The name of the camera (corrsponding to the camera info)
+ * `~camera_info_url`: A url (`file://path/to/file`, `package://pkg_name/path/to/file`) to the [camera calibration file](http://www.ros.org/wiki/camera_calibration_parsers#File_formats).
+ * `~gscam_config`: The GStreamer [configuration string](http://wiki.oz9aec.net/index.php?title=Gstreamer_cheat_sheet&oldid=1829).
+ * `~frame_id`: The [TF](http://www.ros.org/wiki/tf) frame ID.
+ * `~reopen_on_eof`: Re-open the stream if it ends (EOF).
+ * `~sync_sink`: Synchronize the app sink (sometimes setting this to `false` can resolve problems with sub-par framerates).
+
+C++ API (unstable)
+------------------
+
+The gscam c++ library can be used, but it is not guaranteed to be stable. 
+
+Examples
+--------
+
+See example launchfiles and configs in the examples directory. Currently there
+are examples for:
+ * [Video4Linux2](examples/v4l.launch): Standard
+   [video4linux](http://en.wikipedia.org/wiki/Video4Linux)-based cameras like
+   USB webcams
+ * [Nodelet](examples/gscam_nodelet.launch): Run a V4L-based camera in a nodelet
+ * [Video File](examples/videofile.launch): Any videofile readable by GStreamer
+ * [DeckLink](examples/decklink.launch):
+   [BlackMagic](http://www.blackmagicdesign.com/products/decklink/models)
+   DeckLink SDI capture cards (note: this requires the `gst-plugins-bad` plugins)