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Use libcamera_ros camera driver

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v4l2 doesn't work on Bookworm with RPi camera
This commit is contained in:
Oleg Kalachev
2024-06-16 08:32:44 +03:00
parent caa974b71c
commit b7e8acefb4
2 changed files with 28 additions and 8 deletions
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35
clover/launch/main_camera.launch
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@@ -3,7 +3,12 @@
<arg name="direction_z" default="down"/> <!-- direction the camera points: down, up --> <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
<arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward --> <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
<arg name="device" default="/dev/video0"/> <!-- v4l2 device --> <arg name="type" default="libcamera"/> <!-- camera interface: libcamera, v4l2 -->
<arg name="camera_id" default="0"/> <!-- libcamera camera id -->
<arg name="device" default="/dev/video0"/> <!-- v4l2 device path -->
<arg name="width" default="320"/>
<arg name="height" default="240"/>
<arg name="fps" default="40"/>
<arg name="throttled_topic" default="true"/> <!-- enable throttled image topic --> <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
<arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate --> <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
<arg name="rectify" default="false"/> <!-- enable rectification --> <arg name="rectify" default="false"/> <!-- enable rectification -->
@@ -26,20 +31,34 @@
<param name="num_worker_threads" value="2"/> <param name="num_worker_threads" value="2"/>
</node> </node>
<!-- camera node --> <!-- camera node using libcamera -->
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet main_camera_nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" unless="$(arg simulator)" respawn="true"> <node pkg="nodelet" type="nodelet" name="main_camera" args="load libcamera_ros/LibcameraRos main_camera_nodelet_manager" output="screen" clear_params="true" if="$(eval not simulator and type == 'libcamera')" respawn="true">
<param name="camera_name" value=""/>
<param name="camera_id" value="$(arg camera_id)"/>
<param name="frame_id" value="main_camera_optical"/>
<param name="calib_url" type="string" value="file://$(find clover)/camera_info/fisheye_cam_$(arg width)x$(arg height).yaml"/>
<param name="stream_role" value="still"/>
<param name="pixel_format" value="RGB888"/>
<param name="use_ros_time" value="true"/>
<param name="resolution/width" value="$(arg width)"/>
<param name="resolution/height" value="$(arg height)"/>
<!-- see: https://github.com/ctu-mrs/libcamera_ros/blob/b3645/config/param.yaml#L19 -->
<param name="control/fps" value="$(arg fps)"/>
</node>
<!-- old camera node for v4l2 (cv_camera) -->
<node pkg="nodelet" type="nodelet" name="main_camera" args="load cv_camera/CvCameraNodelet main_camera_nodelet_manager" launch-prefix="rosrun clover waitfile $(arg device)" clear_params="true" if="$(eval not simulator and type == 'v4l2')" respawn="true">
<param name="device_path" value="$(arg device)"/> <param name="device_path" value="$(arg device)"/>
<param name="frame_id" value="main_camera_optical"/> <param name="frame_id" value="main_camera_optical"/>
<param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/> <param name="camera_info_url" value="file://$(find clover)/camera_info/fisheye_cam.yaml"/>
<param name="rate" value="100"/> <!-- poll rate --> <param name="rate" value="100"/> <!-- poll rate -->
<param name="cv_cap_prop_fps" value="40"/> <!-- camera FPS --> <param name="cv_cap_prop_fps" value="$(arg fps)"/> <!-- camera FPS -->
<param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving --> <param name="capture_delay" value="0.02"/> <!-- approximate delay on frame retrieving -->
<param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info --> <param name="rescale_camera_info" value="true"/> <!-- automatically rescale camera calibration info -->
<param name="image_width" value="$(arg width)"/>
<!-- camera resolution --> <param name="image_height" value="$(arg height)"/>
<param name="image_width" value="320"/>
<param name="image_height" value="240"/>
</node> </node>
<!-- camera visualization markers --> <!-- camera visualization markers -->

1
clover/package.xml
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@@ -33,6 +33,7 @@
<depend>mavros</depend> <depend>mavros</depend>
<depend>mavros_extras</depend> <depend>mavros_extras</depend>
<depend>cv_camera</depend> <depend>cv_camera</depend>
<depend>libcamera_ros</depend>
<depend>cv_bridge</depend> <depend>cv_bridge</depend>
<depend>rosbridge_server</depend> <depend>rosbridge_server</depend>
<depend>web_video_server</depend> <depend>web_video_server</depend>