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：