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.

Run out-of-the-box `qrb_ros_camera`

Try me

Run the camera ROS node

a. Set CAMX Overlay

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

b. Check statusTo 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 $?                   

c. 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.

​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

​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

Run out-of-the-box `qrb_ros_camera`

Build and run `qrb_ros_camera`

Limitation