Jetson Nano 调用CSI摄像头运行CCMSLAM

1.安装ROS的CSI摄像头软件包

TX2推荐安装jetson_csi_cam，而Nano推荐安装jetson_nano_csi_cam。

1.1 jetson_csi_cam

注意：与下面的jetson_nano_csi_cam二选一。
参考：https://github.com/peter-moran/jetson_csi_cam

1.1.1安装 GStreamer-1.0

sudo add-apt-repository universe
sudo add-apt-repository multiverse
sudo apt-get update
sudo apt-get install gstreamer1.0-tools gstreamer1.0-alsa \
 gstreamer1.0-plugins-base gstreamer1.0-plugins-good \
 gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly \
 gstreamer1.0-libav
sudo apt-get install libgstreamer1.0-dev \
 libgstreamer-plugins-base1.0-dev \
 libgstreamer-plugins-good1.0-dev \
 libgstreamer-plugins-bad1.0-dev

查看 GStreamer-1.0 版本

gst-inspect-1.0 --version

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1.1.2下载包jetson_csi_cam和gscam

cd ~/ccmslam_ws/src
git clone https://github.com/peter-moran/jetson_csi_cam.git
git clone https://github.com/ros-drivers/gscam.git

修改gscam的Makefile：

gedit ~/ccmslam_ws/gscam/Makefile

第一行后面加上-DGSTREAMER_VERSION_1_x=On变成：

EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1 -DGSTREAMER_VERSION_1_x=On

保存退出，返回工作空间编译：

cd ../..
catkin_make

如果catkin_make失败，则用

catkin_make_isolated

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测试：

roscore
roslaunch jetson_csi_cam jetson_csi_cam.launch

若出现错误：gst_element_make_from_uri: assertion 'gst_uri_is_valid (uri)' failed
解决方法转自：https://github.com/peter-moran/jetson_csi_cam/issues/1
修改jetson_csi_cam.launch：

gedit ~/ccmslam_ws/src/jetson_csi_cam/jetson_csi_cam.launch

把关于GSCAM_CONFIG的那一段改为：

<env name="GSCAM_CONFIG" value="nvarguscamerasrc sensor-id=$(arg sensor_id) ! video/x-raw(memory:NVMM),
    width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! 
    nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert" />

1.1.3 再运行roslaunch：

roslaunch jetson_csi_cam jetson_csi_cam.launch

如果出现错误：Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvargus
则终端运行：

sudo systemctl restart nvargus-daemon

再运行roslaunch

查看ROS话题：

rostopic list

发现出现了/csi_cam_0/image_raw。
查看捕获的图像：

rqt_image_view

如果能正确显示图像，则成功了。

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1.2 jetson_nano_csi_cam

注意：与上面的jetson_csi_cam二选一。
参考：https://github.com/rt-net/jetson_nano_csi_cam_ros

1.2.1安装 GStreamer-1.0

sudo add-apt-repository universe
sudo add-apt-repository multiverse
sudo apt-get update
sudo apt-get install gstreamer1.0-tools gstreamer1.0-alsa \
 gstreamer1.0-plugins-base gstreamer1.0-plugins-good \
 gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly \
 gstreamer1.0-libav
sudo apt-get install libgstreamer1.0-dev \
 libgstreamer-plugins-base1.0-dev \
 libgstreamer-plugins-good1.0-dev \
 libgstreamer-plugins-bad1.0-dev

查看 GStreamer-1.0 版本

gst-inspect-1.0 --version

1.2.2下载包jetson_nano_csi_cam和gscam

cd ~/ccmslam_ws/src
git clone https://github.com/rt-net/jetson_nano_csi_cam_ros.git 
git clone https://github.com/ros-drivers/gscam.git

修改gscam的Makefile：

gedit ~/ccmslam_ws/gscam/Makefile

第一行后面加上-DGSTREAMER_VERSION_1_x=On变成：

EXTRA_CMAKE_FLAGS = -DUSE_ROSBUILD:BOOL=1 -DGSTREAMER_VERSION_1_x=On

保存退出，返回工作空间编译：

cd ../..
catkin_make

1.2.3 运行roslaunch：

roslaunch jetson_nano_csi_cam jetson_nano_csi_cam.launch

查看ROS话题：

rostopic list

发现出现了/csi_cam_0/image_raw。

查看捕获的图像：

rqt_image_view

如果能正确显示图像，则成功了。

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2.修改Client0_euroc.launch

gedit ~/ccmslam_ws/src/ccm_slam/cslam/launch/EuRoC/Client0_euroc.launch

将参数cam更改为新相机文件的路径：
即，将

 <param name="~TopicNameCamSub" type="string" value="/cam0/image_raw" />

改为：

 <param name="~TopicNameCamSub" type="string" value="/csi_cam_0/image_raw" />

3.编写启动文件

编写ccm-csi.sh：

gnome-terminal -t "cam" -x bash -c "roslaunch jetson_csi_cam jetson_csi_cam.launch;exec bash;"

sleep 3
gnome-terminal -t "server" -x bash -c "roslaunch ccmslam Server.launch;exec bash;"
sleep 3

gnome-terminal -t "agent0" -x bash -c "roslaunch ccmslam Client0_euroc.launch;exec bash;"

sleep 3 
gnome-terminal -t "rviz" -x bash -c "roscd ccmslam ;rviz -d conf/rviz/ccmslam.rviz ;exec bash;"

如果上面用的是jetson_nano_csi_cam包，则：

gnome-terminal -t "cam" -x bash -c "roslaunch jetson_nano_csi_cam jetson_nano_csi_cam.launch;exec bash;"

sleep 3
gnome-terminal -t "server" -x bash -c "roslaunch ccmslam Server.launch;exec bash;"
sleep 3

gnome-terminal -t "agent0" -x bash -c "roslaunch ccmslam Client0_euroc.launch;exec bash;"

sleep 3 
gnome-terminal -t "rviz" -x bash -c "roscd ccmslam ;rviz -d conf/rviz/ccmslam.rviz ;exec bash;"

4.启动

命令行输入：

chmod +x ccm-csi.sh
sh ccm-csi.sh

如果出现错误：Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvargus
则终端运行：

sudo systemctl restart nvargus-daemon

转载请备注：https://blog.csdn.net/klsjadkls/article/details/116207446