Run a zero-copy camera with qrb_ros_camera - Qualcomm Dragonwing Documentation

The qrb_ros_camera sample application implements a camera ROS2 node to enable zero-copy performance when data is coming out of the camera-server. This sample greatly reduces the latency between ROS nodes.

NoteThe Dragonwing IQ-9075 Evaluation Kit only supports these cameras:

ov9282
LI-VENUS-OX03F10-96717-120H camera
LI-VENUS-OX03F10-OAX40-GM2A-118H camera

DIP switch operation for connecting to different cameras on Dragonwing IQ-9075

Figure : DIP switches on Dragonwing IQ-9075 Evaluation Kit

DIP settings	Enabled camera(s)
Keeping all pins DOWN.	ov9282
Set Pin5, Pin6, Pin7, and Pin8 of SW1 to ON while keeping all other pins DOWN.	`LI‑VENUS‑OX03F10‑96717‑120H` `LI‑VENUS‑OX03F10‑OAX40‑GM2A‑118H`
Set Pin7 and Pin8 of SW1 to ON while keeping all other pins DOWN.	`LI‑VENUS‑OX03F10‑OAX40‑GM2A‑118H` ov9282 (when connected to MIPI CSI0 or MIPI CSI1)

Table: DIP settings for cameras

NoteFor information about how to connect the camera, see Connect camera hardware sensor. This document is available to authorized users only.

Pipeline flow for `qrb_ros_camera`

The Qualcomm Camera-Server provides camera data that’s obtained from the camera sensor. qrb_ros_camera uses this camera-server to get the latest camera data.

ROS nodes used in the `qrb_ros_camera` pipeline

ROS node	Description
`CAMERA`	Publishes the `/cam${camera_id}_${stream_name}`, `/cam${camera_id}_camera_info` ROS topics.

camera_id indicates the camera device ID, with a default value of 0.
stream_name indicates the camera stream names, with a default value of “stream1”.

ROS topics used in the `qrb_ros_camera` pipeline

ROS topic	Message type	Published/Subscribed by	Description
`/cam${camera_id}_${stream_name}`	`sensor_msgs::msg::Image`	Published by `camera`.	Publishes the NV12 encoded image.
`/cam${camera_id}_camera_info`	`sensor_msgs::msg::CameraInfo`	Published by `camera`.	Publishes the camera information.

Prerequisites

You have Set up the device according to Set up the environment for running sample applications.

Set up the camera

Complete the following settings before you run qrb_ros_camera or any sample application that uses qrb_ros_camera as the input.

Connect a supported camera to the development kit. For the Dragonwing IQ-9075 Evaluation Kit, set the DIP switches according to DIP switch operation for connecting to different cameras on Dragonwing IQ-9075.

Set the CamX overlay, and then reboot the device.

SSH Session

echo -n "camx" > /var/data
efivar -n 882f8c2b-9646-435f-8de5-f208ff80c1bd-VendorDtbOverlays -w -f /var/data
efivar -n 882f8c2b-9646-435f-8de5-f208ff80c1bd-VendorDtbOverlays -p
sync
reboot

Check the CamX overlay status. To confirm that the CamX overlay is active, run the following commands. The script returns 0 when the overlay is applied.
SSH Session
/usr/libexec/qmmf-server/check-camx-overlay.sh echo $?

Run out-of-the-box `qrb_ros_camera`

Try me

Run the camera ROS node

Ensure that you have completed the settings in Set up the camera.

Run the qrb_ros_camera node.

SSH Session

ros2 launch qrb_ros_camera qrb_ros_camera_launch.py

Get the camera image data

a. Set up the QIR SDK and ROS2 environment on the device.

Value range of ROS_DOMAIN_ID: [0, 232]

ssh root@[ip-addr]

SSH Session

source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=xx

b. Verify the ROS topic.

SSH Session

ros2 topic echo /cam0_stream1

Build and run `qrb_ros_camera`

Try me

Build qrb_ros_camera on the host

cd <qirp_decompressed_workspace>
source setup.sh
cd qirp-samples/platform/qrb_ros_camera
colcon build --merge-install --cmake-args ${CMAKE_ARGS} -DBUILD_TESTING=ON

Push qrb_ros_camera to the device

cd qirp-samples/platform/qrb_ros_camera/install
tar czvf qrb_ros_camera.tar.gz lib share include
scp qrb_ros_camera.tar.gz root@[ip-addr]:/opt/
ssh root@[ip-addr]

SSH Session

tar --no-overwrite-dir --no-same-owner -zxf /opt/qrb_ros_camera.tar.gz -C /usr/ros/jazzy/

Run qrb_ros_camera on the device

Follow the steps in Run out-of-the-box qrb_ros_camera.

Limitation

The supported format is NV12 in camera ROS node. Currently, dynamic changes to the image size aren’t supported.

Robotics SDK(Linux)

​DIP switch operation for connecting to different cameras on Dragonwing IQ-9075

​Pipeline flow for qrb_ros_camera

​ROS nodes used in the qrb_ros_camera pipeline

​ROS topics used in the qrb_ros_camera pipeline

​Prerequisites

​Set up the camera

​Run out-of-the-box qrb_ros_camera

​Build and run qrb_ros_camera

​Limitation

DIP switch operation for connecting to different cameras on Dragonwing IQ-9075

Pipeline flow for `qrb_ros_camera`

ROS nodes used in the `qrb_ros_camera` pipeline

ROS topics used in the `qrb_ros_camera` pipeline

Prerequisites

Set up the camera

Run out-of-the-box `qrb_ros_camera`

Build and run `qrb_ros_camera`

Limitation