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# jetson_csi_cam # jetson_csi_cam
A ROS package for easily connecting to CSI cameras from the Jetson TX1/TX2 via GStreamer. A ROS package for easily connecting to CSI cameras from the Jetson TX1/TX2 via GStreamer.
This package consists of a ROS launch file specifically configured for getting `gscam` to connect to the Nvidia
multimedia library via gstreamer and to make it easy to set resolution, set framerate, and calibrate the camera.
---
# Setup # Setup
In order to get the `jetson_csi_cam` package to publish the video stream from your CSI camera, you will need to download this
repository and install and build the `gscam` ROS package. Just follow the steps below and you should be good to go.
As a note, this package was tested on a Nvidia Jetson TX2 with L4T R27.1, ROS Kinetic, and the
[Leopard Imaging IMX377CS](https://www.leopardimaging.com/LI-JETSON-KIT-IMX377CS-X.html) CSI camera.
If you'd like to learn more about `gscam`, check out their [ROS wiki page](http://wiki.ros.org/gscam) or their
[Github repository](https://github.com/ros-drivers/gscam).
## Dependencies ## Dependencies
### GSCam with gstreamer-1.0 support This package is intended to run on ROS Kinetic but may work with older versions of ROS if the correct version of `gscam` is used
First, clone `gscam` ([ROS documentation](http://wiki.ros.org/gscam), [Github page](https://github.com/ros-drivers/gscam)) and that version still supports gstreamer-1.0.
into your `catkin_workspace`.
## 1. Download jetson_csi_cam install
Clone this repository into you `catkin_workspace`.
```
cd ~/catkin_ws/srs
git clone https://github.com/peter-moran/jetson_csi_cam.git
```
## 2. Install `gscam` with gstreamer-1.0 support
Clone `gscam` into your `catkin_workspace`.
``` ```
cd ~/catkin_workspace/src cd ~/catkin_workspace/src
@ -18,25 +42,20 @@ that it reads:
EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1 -DGSTREAMER_VERSION_1_x=On EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1 -DGSTREAMER_VERSION_1_x=On
While this is only necessary if you have both `gstreamer-0.1` and `gstreamer-1.0` installed simultaneously, it While this is only necessary if you have both `gstreamer-0.1` and `gstreamer-1.0` installed simultaneously, it
is good practice. We will build this package in the 'Build' step. is good practice to include.
### jetson_csi_cam install ## 3. Build everything
Now that we have gscam with gstreamer-1.0 support, clone this repository into you `catkin_workspace`.
```
cd ~/catkin_ws/srs
git clone https://github.com/peter-moran/jetson_csi_cam.git
```
### Building
Now we build and register `gscam` and `tegra_csi_cam` in ROS. Now we build and register `gscam` and `tegra_csi_cam` in ROS.
``` ```
cd ~/catkin_ws cd ~/catkin_ws
catkin_make catkin_make
source ~/.bashrc source ~/.bashrc
``` ```
# Usage
## Publishing and viewing the camera stream # Publishing and viewing the camera stream
To publish the camera stream, use: To publish the camera stream in ROS, use:
``` ```
roslaunch jetson_csi_cam jetson_csi_cam.launch roslaunch jetson_csi_cam jetson_csi_cam.launch
``` ```