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Connect CSI Camera on Jetson TX2 to ROS

—

by

shiroku
in

Environment

  • Jetson TX2
  • Ubuntu 16.04
  • ROS Kinetic

Download

$cd ~/catkin_ws/src
$ git clone https://github.com/ros-perception/image_common
$ git clone https://github.com/peter-moran/jetson_csi_cam
$ git clone https://github.com/ros-drivers/gscam

Edit

$ vim ./gscam/Makefile
EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1 -DGSTREAMER_VERSION_1_x=On

Build

$cd ~/catkin_ws
$ rosdep install --from-paths ~/catkin_ws --ignore-src --rosdistro=ROSkinetic
$ catkin_make
$ source ~/.bashrc
$ source devel/setup.bash

Run

$ roscore
PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
$ roslaunch jetson_csi_cam jetson_csi_cam.launch
PARAMETERS
 * /csi_cam/camera_name: csi_cam
 * /csi_cam/frame_id: /csi_cam_link
 * /csi_cam/image_height: 1080
 * /csi_cam/image_width: 1920
 * /csi_cam/sync_sink: True
 * /csi_cam/target_fps: 30
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
$ rqt_image_view

Check

$ rostopic list
/csi_cam/camera_info
/csi_cam/image_raw
/rosout
/rosout_agg
/statistics
$ rostopic hz /csi_cam/image_raw
subscribed to [/csi_cam/image_raw]
average rate: 30.651
	min: 0.011s max: 0.080s std dev: 0.01570s window: 30

Reference