APEX AD10 GMSL ROS2节点使用

下载代码

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src
git clone --no-checkout https://github.com/MiiViiDynamics/miivii_gmsl_camera && cd miivii_gmsl_camera && git checkout 3bc9f9b

编译

sudo apt install python3-colcon-common-extensions
source /opt/ros/humble/setup.bash
sudo apt install ros-humble-camera-info-manager
colcon build
source ~/catkin_ws/src/miivii_gmsl_camera/install/setup.bash 

运行

#如果相机分辨率是1280x800
ros2 launch miivii_gmsl_camera single.launch  

否则需要修改

cd catkin_ws/src/miivii_gmsl_camera/miivii_gmsl_ros/launch/
sudo vim single.launch 
#增加<param name="video0.camera_res" value="相机图像长x相机图像宽"/>
#参考miivii_gmsl_ros/launch/small_delivery_car_profile1.launch