csi摄像头设置topic等方法

注意这个是安装之后的topic，可以使用
https://github.com/rt-net/jetson_nano_csi_cam_ros

roslaunch jetson_nano_csi_cam jetson_csi_cam.launch sensor_id:=0 width:= height:= fps:=

cd ~/catkin_ws_csi
roslaunch jetson_nano_csi_cam jetson_csi_cam.launch sensor_id:=0 width:=1280 height:=720 fps:=60

cd ~/catkin_ws_csi
source devel/setup.bash
roslaunch jetson_nano_csi_cam jetson_csi_cam.launch sensor_id:=0 width:=1280 height:=720 fps:=60

cd ~/catkin_ws_csi
source devel/setup.bash
roslaunch jetson_nano_csi_cam jetson_csi_cam.launch sensor_id:=0 width:=1920 height:=1080 fps:=30

roslaunch jetson_nano_csi_cam jetson_csi_cam.launch sensor_id:=0 width:=1920 height:=1080 fps:=30
roslaunch jetson_nano_csi_cam jetson_csi_cam.launch sensor_id:=0 width:=1280 height:=720 fps:=60

标定的方法
http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
这里经常会找不到标定的那个py文件，这里我们去到.。。。暂时没出现这个错误，再说

rosrun camera_calibration cameracalibrator.py --size 7x5 --square 0.018 image:=/csi_cam_0/image_raw camera:=/csi_cam_0