Jetson Cam

Jetson Nano camera driver extracted from the jetbot_ros package.

Dependencies

System Dependencies

1. GStreamer

   • Typically preinstalled in jetson Nano

2. jetson-utils

   • Building jetson-utils is sufficient. Heavier dependencies like jetson-inference are not necessary
   • Use the following build commands

   git clone https://github.com/dusty-nv/jetson-utils.git
   cd jetson-utils
   mkdir build && cd build
   cmake ..
   sudo make install

ROS Dependencies

1. camera_info_manager
2. image_transport

Warning: ROS Melodic ships with Opencv-3.2. If you:

• Checked Target Components: Jetson SDK Components in SDK Manager, OR
• Flashed the Jetson Nano OS onto an SD card

then your Jetson Nano has OpenCV 4 installed. In this case, DO NOT install the dependent ROS packages using sudo apt-get. Build these packages from source

Building

Create a ROS Catkin workspace to contain our ROS packages:

# create the catkin workspace
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin build # or catkin_make / colcon build

Running

To begin streaming the JetBot camera, start the jetbot_camera node:

rosrun jetson_cam camera_node

A CSI camera will be opened by default and video frames will be published to /jetson_nano/image_raw as sensor_msgs::Image messages