一、背景

在ros中调用GMSL2摄像头，刚开始是通过修改官方驱动包ros-meloidc-usb-cam，可能是修改的地方不对，一直报错，调用失败，要是有大佬修改成功，希望能交流一下。

后来借鉴了一下别人关于这方面的博客，成功拿到了图像数据。理论上jetson orin/nanotx2等也可以用。

这是我的包，可根据自己情况修改jetsongmls2相机驱动-编解码文档类资源-CSDN下载

二、环境

1、设备Nvidia Jetson Agx Xavier

2、jetpack 4.6.1

3、opencv 4.1.1

4、ros-melodic

5、python3.6.9

6、GMSL2相机+相机采集板

三、驱动包环境搭建

1、编译python3版cv_bridge

参考我的上篇博客，此步不可省略，因为opencv4.1.1是python3版本的，所以就得使用python3版本的cv_bridge，而官方默认版本为python2版，如不自己构建cv_bridge，必须安装python2版本的opencv版本，使用默认cv_bridge。

在ROS-meloidc中使用python3 cv_bridge_Ponnyao的博客-CSDN博客

2、创建ROS工作空间

mkdir -p ~/ros_camera_ws/srccd ~/ros_camera_ws/catkin_makesource devel/setup.bash

3、创建ROS功能包learning_image_transport

cd ~/ros_camera_ws/srccatkin_create_pkg learning_image_transport roscpp std_msgs cv_bridge image_transport sensor_msgs

4、编写发布订阅节点C++文件

在功能包learning_image_transport下的src目录中建立两个cpp文件。

1、my_publisher.cpp

cd ~/ros_camera_ws/src/learning_image_transport/src/gedit my_publisher.cpp

写入以下代码：

#include <ros/ros.h> #include <image_transport/image_transport.h> #include <opencv2/highgui/highgui.hpp> #include <cv_bridge/cv_bridge.h> #include <sstream> // for converting the command line parameter to integer int main(int argc, char** argv) { // Check if video source has been passed as a parameter if(argv[1] == NULL) { ROS_INFO("argv[1]=NULL\n"); return 1; } ros::init(argc, argv, "image_publisher"); ros::NodeHandle nh; image_transport::ImageTransport it(nh); image_transport::Publisher pub = it.advertise("camera/image", 1); // Convert the passed as command line parameter index for the video device to an integer std::istringstream video_sourceCmd(argv[1]); int video_source; // Check if it is indeed a number if(!(video_sourceCmd >> video_source)) { ROS_INFO("video_sourceCmd is %d\n",video_source); return 1; } cv::VideoCapture cap(video_source); // Check if video device can be opened with the given index if(!cap.isOpened()) { ROS_INFO("can not opencv video device\n"); return 1; } cv::Mat frame; sensor_msgs::ImagePtr msg; ros::Rate loop_rate(5); while (nh.ok()) { cap >> frame; // Check if grabbed frame is actually full with some content if(!frame.empty()) { msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg(); pub.publish(msg); //cv::Wait(1); } }ros::spinOnce(); loop_rate.sleep(); }

2、my_subscriber.cpp

gedit my_subscriber.cpp

写入以下代码：

#include <ros/ros.h> #include <image_transport/image_transport.h> #include <opencv2/highgui/highgui.hpp> #include <cv_bridge/cv_bridge.h> void imageCallback(const sensor_msgs::ImageConstPtr& msg) { try { cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image); // cv::waitKey(30); } catch (cv_bridge::Exception& e) { ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str()); } } int main(int argc, char **argv) { ros::init(argc, argv, "image_listener"); ros::NodeHandle nh; cv::namedWindow("view"); cv::startWindowThread(); image_transport::ImageTransport it(nh); image_transport::Subscriber sub = it.subscribe("camera/image", 1,imageCallback); ros::spin(); cv::destroyWindow("view"); }

5、配置文件修改

cd ~/ros_camera_ws/src/learning_image_transport/gedit CMakeLists.txt

填入以下内容：

find_package(OpenCV REQUIRED) # add the publisher example add_executable(my_publisher src/my_publisher.cpp) target_link_libraries(my_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) # add the subscriber example add_executable(my_subscriber src/my_subscriber.cpp) target_link_libraries(my_subscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

6、编译ROS包

cd ~/ros_camera_ws/catkin_make

7、测试

1、启动ros核心：

roscore

2、启动发布节点：

cd ~/ros_camera_ws/source devel/setup.bashrosrun learning_image_transport my_publisher 0

0代表默认摄像头,如果有多个摄像头,则第二个是1,依次类推。

3、启动订阅节点：

cd ~/ros_camera_ws/source devel/setup.bashrosrun learning_image_transport my_subscriber

8、其他节点订阅图像

在对应功能包scripts文件夹下新建image_view.py

#!/usr/bin/env python3#coding:utf-8import rospyimport cv2from sensor_msgs.msg import Imagefrom cv_bridge import CvBridge,CvBridgeErrordef callback(data): cv_image=CvBridge().imgmsg_to_cv2(data,"bgr8")cv2.imshow("view",cv_image)cv2.waitKey(1)if __name__ == '__main__':rospy.init_node('image_acquistion')rospy.Subscriber('camera/image', Image, callback)rospy.spin()cv2.destoryAllWindows()

rosrun 你的包名 image_view.py

参考博客

JETSON AGX XAVIER GMSL2接口相机驱动_努力划水的博客-CSDN博客_gmsl2接口

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