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DEBIX Industrial Computers
DEBIX Industrial Computers

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DEBIX Camera support for ROS2

OS: Ubuntu22.04
ROS2 version: Humble

Install ROS2

  1. Run the command: sudo apt update && sudo apt install locales

  1. Set the language environment, and run the command: 
sudo locale-gen en_US en_US.UTF-8

sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

export LANG=en_US.UTF-8
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  1. Check the language environment, run Locale to confirm the language is UTF-8.

  1. Authorize the GPG key with apt, run the command: sudo apt update && sudo apt install curl gnupg2 lsb-release

  1. Run the command: 
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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If the command fails: manually download the file from https://raw.githubusercontent.com/ros/rosdistro/master/ros.key, rename it to ros-archive-keyring.gpg, and save it to the /usr/share/keyrings/ directory.

  1. Then add the library to the source code list: 
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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  1. Update apt repository cache, run the command:sudo apt update

  1. Install the full version of ROS2, run the command: sudo apt install ros-humble-desktop -y

  1. Set the environment variables, run the command: 
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

source ~/.bashrc
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Test ROS2
Open two terminals on DEBIX desktop.

Terminal 1 runs the talker node, run the command:

ros2 run demo_nodes_cpp talker

Terminal 2 runs the listener node, run the command:

ros2 run demo_nodes_py listener

The two terminals show that the talker is posting a message and the listener receives the message posted by the talker.

Support DEBIX Camera Module

  1. Install the V4L2 software package, run the command:

sudo apt-get install ros-humble-v4l2-camera

  1. Use of the V4L2 software package Note: Take IMX219 camera for example, the device tree is imx8mp-debix-core-ar1335.dtb, and the device node is /dev/video2
  • Run the camera node ros2 run v4l2_camera v4l2_camera_node --ros-args -p video_device:=/dev/video2 -p output_encoding:=yuv422_yuy2 View topic ros2 topic list

  • Install dependencies
    sudo apt-get install qtwayland5

  • open a terminal on your desktop and run the following command to subscribe and display the image data on the /image_raw topic
    ros2 run rqt_image_view rqt_image_view
    Select /Image_raw to view the image data on the /image_raw topic.

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