The nanosaur_camera read the stream from the MIPI camera mounted on the MIPI connector assembled on the NVIDIA Jetson developer kit. This package is GPU accelerated, reading directly in GPU the input from the camera and resize and stream outside the package. You can modify the TF camera name or recalibrate the camera. This node provides as well the camera_info message. This package does not have any subscribers, but only a camera publisher.

Publishers

nanosaur_camera/image_raw (sensor_msgs/msg/Image)

Stream the MIPI camera in an image_raw message. The size and the TF frame ID are parameters.

nanosaur_camera/camera_info (sensor_msgs/msg/CameraInfo)

Stream the camera_info loaded from the camera_info parameters

Parameters

If you have assembly the robot without modifying the official configuration, you don't need to change these parameters.

• frame_id [Default camera_optical_frame] TF frame name
• camera.device [Default 0] camera MIPI CSI devise name
• camera.frameRate [Default 15] camera frame rate
• camera.width [Default 320] camera resized width output
• camera.height [Default 240] camera resized height output
• camera.topic [Default image_raw] camera topic name
• camera.flip [Default "none"] camera flip - there are only these options:
  • none (default)
  • counterclockwise
  • rotate-180
  • clockwise
  • horizontal
  • vertical
  • upper-right-diagonal
  • upper-left-diagonal