jetson_csi_cam

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.

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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 CSI camera.

If you'd like to learn more about gscam, check out their ROS wiki page or their Github repository.

Dependencies

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 and that version still supports gstreamer-1.0.

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
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 to include.

3. Build everything

Now we build and register gscam and tegra_csi_cam in ROS.

cd ~/catkin_ws
catkin_make
source ~/.bashrc

Publishing and viewing the camera stream

To publish the camera stream in ROS, use:

roslaunch jetson_csi_cam jetson_csi_cam.launch