ROS2 Basics

Experiment 04 - ROS2 Camera Application

Materials needed: an RDK-X5 board, a USB camera.

1. Experiment Steps

(1) Camera connection check

Connect the USB camera to the development board and run ls /dev/video* to check the camera connection. TOOL, 1765250099283 as shown, the camera is successfully connected. (This example uses video0.)

(2) Wake up the camera

  1. Run cd ~/ros2_ws && colcon build --packages-select arm_demo to enter the ROS2 workspace and build the arm_demo package.

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  1. Then run source ~/ros2_ws/install/setup.bash # Activate the workspace

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  1. Finally run ros2 launch arm_demo camera.launch.py # Run the camera.launch.py file (the camera uses the default video0 here; to change it, modify the default value in the launch file at line 26 of camera.launch.py).

You will see the terminal print messages:

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And a live feed window appears.

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At this point, the camera has been successfully woken up!