BRD601 THOR Usage of GMSL ROS2 Node

Download code

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 1f0d058

Compile

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

Run

# If the camera resolution is 1280x800
ros2 launch miivii_gmsl_camera single.launch

Otherwise, you need to modify miivii_gmsl_ros/launch/single.launch

cd catkin_ws/src/miivii_gmsl_camera/miivii_gmsl_ros/launch/
sudo vim single.launch 
# Add <param name="video0.camera_res" value="length of camera image x width of camera image"/>
# Refer to miivii_gmsl_ros/launch/s