arducam_ros2

This package interfaces Arducam cameras that support v4l2 to ROS 2

NOTE This package is tested on Jetosn Xavier NX with Jetpack L4T_VERSION=35.1.0 At the time of writing this package (June 2023), ROS 2 humble does not run directly on the host Jetson. It requires a docker container. You can use docker images from jetson-containers

Installation

• Use a suitable Docker image according to your Jetpack version. See jetson-containers

• Install the Arducam drivers in your Jetson

  cd ~
  wget https://github.com/ArduCAM/MIPI_Camera/releases/download/v0.0.3/install_full.sh
  chmod +x install_full.sh
  ./install_full.sh -m arducam

  Reference: arducam website

• Inside the Docker container, install the v4l2 tools

  sudo apt-get install v4l-utils
  sudo pip3 install v4l2-fix  
  sudo pip3 install jetson-stats

• Create a workspace, for example called ros2_ws and clone this package to ros2_ws/src

  cd ros2_ws/src
  git clone https://github.com/mzahana/arducam_ros2.git

• Build and source the workspace

  cd ros2_ws
  colcon build
  source install/setup.bash

Run the ROS node

NOTE All of the following step are done inside the Docker container

• Adjust the camera .yaml files located inside the arducam_ros2/config directory, according to you camera. This is usually the result of your camera calibration process. You can use
• Build and source the workspace after any modifications
• Modify the node parameters inside the launch/stereo.launch.py
• Inside the terminal of the docker container, run the launch/stereo.launch.py

  ros2 launch arducam_ros2 stereo.launch.py

• In a new terminal, you can list the topic

  `ros2 topic list

Camera calibration

• Reference: tutorial
• Checker board generator

Tested Cameras

• Dual OV9281