JetsonOnboardCamera

A camera package for ROS, the target is jetson tx2(it should work on jetson tx1)

Prerequisites

1. ROS Kinetic
2. CMake(mine is 3.11)
3. OpenCV(mine is 3.4.1, I don't know why the built-in opencv from Jetpack 3.2 doesn't work for me.) Follow this link to install OpenCV on jetson tx2: https://jkjung-avt.github.io/opencv3-on-tx2/

Build

# Sync the repo.
$ git clone https://github.com/Dengjianping/JetsonOnboardCamera.git

$ cd JetsonOnboardCamera
$ catkin_make # just seconds

# add current project to env
$ source ./devel/setup.bash

Usage

Tips: the topic is /camera/onboard/image.

launch the node

Make sure the node is launched smoothly.

# use default configuration, width = 1280, height = 720, fps = 30
$ roslaunch onboard_camera onboard_camera.launch

# or specified configuration, example
$ roslaunch onboard_camera onboard_camera.launch width:=1920 height:=1080 fps:=15

rviz

1. Open rviz.

$ rosrun rviz rviz

2. Add image to rviz.

   

3. Choose topic. The video stream will be showed at the left-bottom of rviz.

image_view

$ rosrun image_view image_view image:=/camera/onboard/image

To-do

1. Camera Calibration (looks easy)
2. Add camera instead of image in rviz. (it need calibrate the camera to generate a camera info file, maybe someone would take a try)