use camera_ros for full libcamera support

README.md

@@ -81,7 +81,7 @@ apriltag_ros
   AprilTagNode
 ```
 
-This `AprilTagNode` component can be loaded with other nodes into a "container node" process where they used shared-memory communication to prevent unnecessary data copies. The example launch file [v4l2_36h11.launch.yml](launch/v4l2_36h11.launch.yml) loads the `AprilTagNode` component together with the `v4l2_camera::V4L2Camera` component from the [`v4l2_camera` package](https://gitlab.com/boldhearts/ros2_v4l2_camera) (`sudo apt install ros-$ROS_DISTRO-v4l2-camera`) into one container and enables `use_intra_process_comms` for both:
+This `AprilTagNode` component can be loaded with other nodes into a "container node" process where they used shared-memory communication to prevent unnecessary data copies. The example launch file [camera_36h11.launch.yml](launch/camera_36h11.launch.yml) loads the `AprilTagNode` component together with the `camera::CameraNode` component from the [`camera_ros` package](https://index.ros.org/p/camera_ros/) (`sudo apt install ros-$ROS_DISTRO-camera-ros`) into one container and enables `use_intra_process_comms` for both:
 ```sh
-ros2 launch apriltag_ros v4l2_36h11.launch.yml
+ros2 launch apriltag_ros camera_36h11.launch.yml
 ```

launch/v4l2_36h11.launch.yml → launch/camera_36h11.launch.yml

@@ -9,24 +9,26 @@ launch:
     name: apriltag_container
     namespace: ""
     composable_node:
-    - pkg: v4l2_camera
-      plugin: v4l2_camera::V4L2Camera
+    - pkg: camera_ros
+      plugin: camera::CameraNode
       name: camera
-      namespace: v4l2
+      namespace: camera
       param:
-      - name: video_device
-        value: /dev/video$(var device)
+      - name: camera
+        value: $(var device)
       extra_arg:
       - name: use_intra_process_comms
         value: "True"
 
     - pkg: image_proc
       plugin: image_proc::RectifyNode
       name: rectify
-      namespace: v4l2
+      namespace: camera
       remap:
       - from: image
-        to: image_raw
+        to: /camera/camera/image_raw
+      - from: camera_info
+        to: /camera/camera/camera_info
       extra_arg:
       - name: use_intra_process_comms
         value: "True"
@@ -37,9 +39,9 @@ launch:
       namespace: apriltag
       remap:
       - from: /apriltag/image_rect
-        to: /v4l2/image_rect
-      - from: /apriltag/camera_info
-        to: /v4l2/camera_info
+        to: /camera/image_rect
+      - from: /camera/camera_info
+        to: /camera/camera/camera_info
       param:
       - from: $(find-pkg-share apriltag_ros)/cfg/tags_36h11.yaml
       extra_arg:

package.xml

@@ -20,6 +20,7 @@
   <depend>image_transport</depend>
   <depend>cv_bridge</depend>
 
+  <exec_depend>camera_ros</exec_depend>
   <exec_depend>image_proc</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>