Using Arducam Camarray on ROS

Depth Mapping with ROS and Jetson Nano

1.Install Driver

Please refer to this page to follow the driver installation.

NOTE

Don’t forget to test the camera to make sure your hardware connection is right.

2.Install ROS

Follow this tutorial to install ROS: Installation

3.Create ROS Workspace

Follow this tutorial to create a ROS workspace: Create a ROS Workspace

4.Dependent Installation

wget https://bootstrap.pypa.io/get-pip.py && python get-pip.py
sudo pip install v4l2
sudo apt install ros-melodic-camera-info-manager-py

5.Install arducam_stereo_camera package

Copy the arducam_stereo_camera folder to the src folder of the ROS workspace:

git clone https://github.com/ArduCAM/Camarray_HAT.git
cp -r Camarray_HAT/Jetson/ROS/arducam_stereo_camera ~/catkin_ws/src
cd ~/catkin_ws/ && catkin_make

6.Run Stereo Pipeline

6.1 Run Camera

You can modify the launch parameters before running the camera.

vim ~/catkin_ws/src/arducam_stereo_camera/launch/arducam_stereo_camera.launch

NOTE

You can use the v4l2-ctl --list-formats-ext command to view the existing resolution and pixelformat

Open two terminals, one running roscore and the other running camera.

roscore #run roscore

roslaunch arducam_stereo_camera arducam_stereo_camera.launch #run camera

6.2 Stereo Calibration

Refer to this document for stereo calibration: How to Calibrate a Stereo Camera

example:
The checkerboard size used here is 11×8, and the square size is 2cm

rosrun camera_calibration cameracalibrator.py --approximate 0.1 --size 11x8 --square 0.02 right:=/arducam/right/image_raw left:=/arducam/left/image_raw right_camera:=/arducam/right left_camera:=/arducam/left

After the calibration is complete, click commit to send the parameters to the camera node.

6.3 Run Stereo Matching

Refer to this document for stereo matching: stereo_image_proc

example:
Open two terminals, one runs stereo_image_proc and the other runs image_view

ROS_NAMESPACE=arducam rosrun stereo_image_proc stereo_image_proc
rosrun image_view stereo_view stereo:=/arducam image:=image_rect

You can also run rqt_reconfigure to dynamically configure the parameters of stereo matching

rosrun rqt_reconfigure rqt_reconfigure

For more details, please refer to Choosing Good Stereo Parameters

Jetson Cameras