From eb1daf4d20d759a10ee7dc91a6af7c61341fb120 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Tue, 21 Dec 2021 18:10:50 +0900 Subject: [PATCH] Update README (#5) * Add usage to README * Update jetson-utils install step --- README.md | 116 +++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 114 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 94b1979..8750828 100644 --- a/README.md +++ b/README.md @@ -1,15 +1,127 @@ # jetson_nano_cuda_csi_cam_ros +ROS driver for the Jetson Nano DevKit B01 + dual CSI camera. + +![](https://rt-net.github.io/images/jetson-nano/jetson_nano_dual_csi.jpg) + +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. + +## Requirements + +* 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) + ## Installation -### 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) + +Check if it is already installed. + +``` +ldconfig -p | grep jetson && echo "installed" || echo "not installed yet" +``` + +If it is not installed, follow the steps below to install it. ``` +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 +``` + +### 2. Download and install this package + +``` +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 +``` + +## Usage +### Quick Start + +To publish the CAM0 camera stream data as `/csr_cam_0/image_raw` topic, run the following command. + +``` +roslaunch jetson_nano_cuda_csi_cam jetson_csi_cam.launch sensor_id:=0 width:=640 height:=480 fps:=60 +``` + +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. + +``` +roslaunch jetson_nano_cuda_csi_cam jetson_dual_csi_cam.launch width:=640 height:=480 fps:=60 +``` + +* __`width`__: image width +* __`height`__: image height +* __`fps`__: desired framerate + +## LICENSE + +(C) 2021 RT Corporation + +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. + +### Acknowledgements + +This project is based on [dusty-nv/ros_deep_learning](https://github.com/dusty-nv/ros_deep_learning) released under the MIT License. + +```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. + */ +``` + +This project is based on [peter-moran/jetson_csi_cam](https://github.com/peter-moran/jetson_csi_cam) released under the MIT License. + +``` +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. ``` \ No newline at end of file