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* Add usage to README * Update jetson-utils install step
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# jetson_nano_cuda_csi_cam_ros | ||
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ROS driver for the Jetson Nano DevKit B01 + dual CSI camera. | ||
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![](https://rt-net.github.io/images/jetson-nano/jetson_nano_dual_csi.jpg) | ||
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This ROS package is designed to acquire images from the one or two CSI cameras attached to the Jetson Nano DevKit B01 and publish them as [sensor_msgs/Image](http://docs.ros.org/api/sensor_msgs/html/msg/Image.html) in ROS. | ||
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## Requirements | ||
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* JetPack 4.5.1 | ||
* CUDA 10.x | ||
* [dusty-nv/jetson-utils](https://github.com/dusty-nv/jetson-utils) | ||
* [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) | ||
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## Installation | ||
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### 1. Download and install [dusty-nv/jetson-utils](https://github.com/dusty-nv/jetson-utils). | ||
### 1. Download and install [dusty-nv/jetson-utils](https://github.com/dusty-nv/jetson-utils) | ||
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Check if it is already installed. | ||
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``` | ||
ldconfig -p | grep jetson && echo "installed" || echo "not installed yet" | ||
``` | ||
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If it is not installed, follow the steps below to install it. | ||
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``` | ||
sudo apt install libglew-dev | ||
git clone https://github.com/dusty-nv/jetson-utils.git | ||
mkdir jetson-utils/build | ||
cd jetson-utils/build | ||
cmake .. | ||
cmake -DENABLE_NVMM=OFF .. | ||
make | ||
sudo make install | ||
sudo ldconfig | ||
``` | ||
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### 2. Download and install this package | ||
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``` | ||
cd ~/catkin_ws/src | ||
git clone -b $ROS_DISTRO-devel https://github.com/rt-net/jetson_nano_cuda_csi_cam_ros.git | ||
rosdep install -r -i -y --from-paths jetson_nano_cuda_csi_cam_ros | ||
catkin build | ||
catkin source | ||
``` | ||
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## Usage | ||
### Quick Start | ||
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To publish the CAM0 camera stream data as `/csr_cam_0/image_raw` topic, run the following command. | ||
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``` | ||
roslaunch jetson_nano_cuda_csi_cam jetson_csi_cam.launch sensor_id:=0 width:=640 height:=480 fps:=60 | ||
``` | ||
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To publish the CAM0 and CAM1 camera stream data as `/csr_cam_0/image_raw` topic and `/csr_cam_1/image_raw` topic, run the following command. | ||
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``` | ||
roslaunch jetson_nano_cuda_csi_cam jetson_dual_csi_cam.launch width:=640 height:=480 fps:=60 | ||
``` | ||
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* __`width`__: image width | ||
* __`height`__: image height | ||
* __`fps`__: desired framerate | ||
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## LICENSE | ||
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(C) 2021 RT Corporation | ||
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This repository is licensed under the Apache License, Version 2.0, see [LICENSE](./LICENSE). | ||
Unless attributed otherwise, everything in this repository is under the Apache License, Version 2.0. | ||
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### Acknowledgements | ||
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This project is based on [dusty-nv/ros_deep_learning](https://github.com/dusty-nv/ros_deep_learning) released under the MIT License. | ||
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```txt | ||
/* | ||
* Copyright (c) 2018, NVIDIA CORPORATION. All rights reserved. | ||
* | ||
* Permission is hereby granted, free of charge, to any person obtaining a | ||
* copy of this software and associated documentation files (the "Software"), | ||
* to deal in the Software without restriction, including without limitation | ||
* the rights to use, copy, modify, merge, publish, distribute, sublicense, | ||
* and/or sell copies of the Software, and to permit persons to whom the | ||
* Software is furnished to do so, subject to the following conditions: | ||
* | ||
* The above copyright notice and this permission notice shall be included in | ||
* all copies or substantial portions of the Software. | ||
* | ||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL | ||
* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING | ||
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER | ||
* DEALINGS IN THE SOFTWARE. | ||
*/ | ||
``` | ||
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This project is based on [peter-moran/jetson_csi_cam](https://github.com/peter-moran/jetson_csi_cam) released under the MIT License. | ||
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``` | ||
MIT License | ||
Copyright (c) 2017 Peter Moran | ||
Permission is hereby granted, free of charge, to any person obtaining a copy | ||
of this software and associated documentation files (the "Software"), to deal | ||
in the Software without restriction, including without limitation the rights | ||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
copies of the Software, and to permit persons to whom the Software is | ||
furnished to do so, subject to the following conditions: | ||
The above copyright notice and this permission notice shall be included in all | ||
copies or substantial portions of the Software. | ||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
SOFTWARE. | ||
``` |