jetson_csi_cam

A ROS package for easily connecting to CSI cameras from the Jetson TX1/TX2 via GStreamer.

Setup

Dependencies

GSCam with gstreamer-1.0 support

First, clone gscam (ROS documentation, Github page) into your catkin_workspace.

cd ~/catkin_workspace/src
git clone https://github.com/ros-drivers/gscam.git

Then edit ./gscam/Makefile and add the CMake flag -DGSTREAMER_VERSION_1_x=On to the first line of the file, so that it reads:

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 is good practice. We will build this package in the 'Build' step.

jetson_csi_cam install

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.

cd ~/catkin_ws
catkin_make
source ~/.bashrc

Usage

Publishing and viewing the camera stream

To publish the camera stream, use:

roslaunch jetson_csi_cam jetson_csi_cam.launch