QRB ROS CAMERA

Overview

qrb_ros_camera is a ROS package to publish the camera data from camera sensor.

qrb_ros_camera holds significant importance as it serves as a critical component for numerous other ROS nodes that rely on image data for analysis and processing. By providing images in the NV12 format, it enables seamless integration with a wide range of ROS nodes, empowering advanced image-based analysis and functionalities within the ROS ecosystem.

qrb_ros_camera features zero-copy transport for reduced latency, facilitating swift image transmission. It also supports concurrent output from multiple cameras, enhancing system performance and scalability in real-time ROS applications.

Getting Started

Cross Compile with QCLINUX SDK

Cross Compile with QCLINUX SDK

Setup QCLINUX SDK environments:

• Reference QRB ROS Documents: Getting Started

Create workspace in QCLINUX SDK environment and clone source code

mkdir -p <qirp_decompressed_workspace>/qirp-sdk/ros_ws
cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws
git clone https://github.com/quic-qrb-ros/qrb_ros_imu.git
git clone https://github.com/quic-qrb-ros/lib_mem_dmabuf.git
git clone https://github.com/quic-qrb-ros/qrb_ros_transport.git
git clone https://github.com/quic-qrb-ros/qrb_ros_camera.git

Build source code with QCLINUX SDK

export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages

colcon build --merge-install --cmake-args \
    -DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
    -DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
    -DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
    -DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
    -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
    -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
    -DBUILD_TESTING=OFF

Install ROS package to device

cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws/install
tar czvf qrb_ros_camera.tar.gz include lib share
scp qrb_ros_camera.tar.gz root@[ip-addr]:/opt/
ssh ssh root@[ip-addr]
(ssh) tar -zxf /opt/qrb_ros_camera.tar.gz -C /opt/qcom/qirp-sdk/usr/

Login to device and run

ssh root@[ip-addr]
(ssh) export HOME=/opt
(ssh) source /usr/bin/ros_setup.bash
(ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
(ssh) ros2 launch qrb_ros_camera qrb_ros_camera_launch.py

Native Build on Ubuntu

Native Build on Ubuntu

Prerequisites

• ROS 2: Install ROS2 on Ubuntu
• camera-server environment install:

sudo apt install libimage-transport-dev
sudo add-apt-repository ppa:carmel-team/jammy-release --login
sudo apt upgrade
sudo apt install weston-qcom gstreamer1.0-plugins-qcom gstreamer1.0-tools camxapi-kt libqmmf-dev syslog-plumber-dev
sudo cp /usr/include/log/log.h /usr/include/log.h
sudo reboot

Create workspace and clone source code from GitHub:

sudo -i
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/quic-qrb-ros/qrb_ros_imu.git
git clone https://github.com/quic-qrb-ros/lib_mem_dmabuf.git
git clone https://github.com/quic-qrb-ros/qrb_ros_transport.git
git clone https://github.com/quic-qrb-ros/qrb_ros_camera.git

Build source code

cd ~/ros2_ws
source /opt/ros/${ROS_DISTRO}/setup.bash
colcon build

Run qrb_ros_camera

cd ~/ros2_ws
source install/setup.bash
ros2 launch qrb_ros_camera qrb_ros_camera_launch.py

Supported Platforms

This package is designed and tested to be compatible with ROS 2 Humble running on Qualcomm RB3 gen2.

Hardware	Software
Qualcomm RB3 gen2	LE.QCROBOTICS.1.0, Canonical Ubuntu Image for RB3 gen2

Contributing

We would love to have you as a part of the QRB ROS community. Whether you are helping us fix bugs, proposing new features, improving our documentation, or spreading the word, please refer to our contribution guidelines and code of conduct.

• Bug report: If you see an error message or encounter failures, please create a bug report
• Feature Request: If you have an idea or if there is a capability that is missing and would make development easier and more robust, please submit a feature request

Authors

• Tian Ding - Initial work - dingtian777

See also the list of contributors who participated in this project.

License

Project is licensed under the BSD-3-clause License. See LICENSE for the full license text.