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Referring to https://larrylisky.com/2016/11/24/enabling-raspberry-pi-camera-v2-under-ubuntu-mate/ . Unfortunately, RasPi Config can't be installed on 20.04 (?)
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3. Read module at https://gitlab.com/boldhearts/ros2_v4l2_camera, run nodes with (**so far only the raw image works**!)
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3. Read module at https://gitlab.com/boldhearts/ros2_v4l2_camera, run nodes with (**the raw image and compressed image should work**!)
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`ros2 run v4l2_camera v4l2_camera_node`
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4. To view the image data simply check topics
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`ros2 topic list`
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`ros2 run rqt_image_view rqt_image_view`
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5. If something does not work, add https://github.com/ros-perception/image_common/tree/ros2 and https://github.com/ros-perception/image_transport_plugins/tree/ros2 with adding to source and build.
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In src folder:
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5. If something does not work, add https://github.com/ros-perception/image_common/tree/ros2 and https://github.com/ros-perception/image_transport_plugins/tree/ros2 to your ros workspace with adding to source and build.
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Instruction in src folder:
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`git clone -b ros2 <Git_Link>`
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... | ... | @@ -47,4 +47,10 @@ Don't forget as always in workspace after doing changes: |
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# Further Notes
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This is the message type, which could be seen with `ros2 topic info /image_raw`
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http://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html |
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http://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html
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This page is useful for seeing available formats and some specs of the camera: https://electrodrome.net/2496
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# Changing Parameters
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One must be careful changing parameters for the camera, this is basically try and error. To see parameters as soon as v4l2_camera_node is running, enter `ros2 param list`. To set an array of pixel value output e.g. use ``ros2 param set /v4l2_camera image_size "[1024, 768]"` |
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