机器人视觉(二) ROS Melodic + CSI 摄像头 + jetson Nano 2GB

以下操作请连接显示器进行

1. 创建ROS工作空间

# create the catkin workspace
$ mkdir -p ~/workspace/catkin_ws/src
$ cd ~/workspace/catkin_ws
$ catkin_make

# add catkin_ws path to bashrc
$ sudo sh -c 'echo "source ~/workspace/catkin_ws/devel/setup.bash" >> ~/.bashrc'

2. 查看是否成功 ####很重要！

$ echo $ROS_PACKAGE_PATH 
/home/nvidia/workspace/catkin_ws/src:/opt/ros/melodic/share

3.构建jetson-inference

# git and cmake should be installed
sudo apt-get install git cmake

# clone the repo and submodules
cd ~/workspace
git clone https://github.com/dusty-nv/jetson-inference
cd jetson-inference
git submodule update --init

# build from source
mkdir build
cd build
cmake ../
make

# install libraries
sudo make install

4. 构建ros_deep_learning

# install dependencies
sudo apt-get install ros-melodic-vision-msgs ros-melodic-image-transport ros-melodic-image-publisher

# clone the repo
cd ~/workspace/catkin_ws/src
git clone https://github.com/dusty-nv/ros_deep_learning

# make ros_deep_learning
cd ../    # cd ~/workspace/catkin_ws
catkin_make

# confirm that the package can be found
$ rospack find ros_deep_learning
/home/nvidia/workspace/catkin_ws/src/ros_deep_learning

5. 创建测试项目

# clone the repo
$ cd ~/workspace/catkin_ws/src
$ git clone https://github.com/dusty-nv/jetbot_ros

# build the package
$ cd ../    # cd ~/workspace/catkin_ws
$ catkin_make

# confirm that jetbot_ros package can be found
$ rospack find jetbot_ros
/home/nvidia/workspace/catkin_ws/src/jetbot_ros

一，开一个终端

$ roscore

二、开第二个终端 ##若显示打开失败，请重启设备

$ rosrun jetbot_ros jetbot_camera

三、开第三个终端

# first open a new terminal
$ sudo apt-get install ros-melodic-image-view
$ rosrun image_view image_view image:=/jetbot_camera/raw

可看到摄像头画面！