https://github.com/mjforan/rpicam_ros
ROS publisher for rpicam-apps
https://github.com/mjforan/rpicam_ros
libcamera raspberry-pi ros2
Last synced: about 1 year ago
JSON representation
ROS publisher for rpicam-apps
- Host: GitHub
- URL: https://github.com/mjforan/rpicam_ros
- Owner: mjforan
- License: mpl-2.0
- Created: 2024-11-06T19:45:41.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-02-13T20:49:42.000Z (about 1 year ago)
- Last Synced: 2025-02-13T21:33:08.803Z (about 1 year ago)
- Topics: libcamera, raspberry-pi, ros2
- Language: Shell
- Homepage:
- Size: 13.7 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
Awesome Lists containing this project
README
# rpicam_ros
The goal for this project is to enable the lowest latency possible for web streaming and Hailo AI inference + ROS 2 publishing **simultaneously**.
The standard way of doing things (post processing stages in `rpicam-vid`) adds latency to the final output.
Instead, `rpicam-vid` output is mirrored to two v4l2 loopback devices. One device is used as an input to the live stream,
while the other is opened by the AI processor.
# Installation
For Raspberry Pi 5 only.
Enable PCIe Gen 3.0 speed, install hailo drivers and loopback video device:
```
sudo su
echo "dtparam=pciex1_gen=3" >> /boot/firmware/config.txt
apt install -y hailo-all v4l2loopback-utils
echo v4l2loopback >> /etc/modules
echo "options v4l2loopback devices=2 video_nr=50,51" > /etc/modprobe.d/v4l2loopback.conf
reboot now
```
# Troubleshooting
Hailo driver mismatch: The driver on the host must match the version in the container. If you recently upgraded on the host, make sure to reboot.