Turtlebot3-waffle-pi入门教程#noetic版#-树莓派摄像头安装

Turtlebot3-waffle-pi入门教程#noetic版#-树莓派摄像头安装

说明：

• 本教程主要介绍如何树莓派4上安装树莓派摄像头的驱动

• 测试环境： 树莓派4B 2G + Ubuntu MATE 20.04 + ROS Noetic Ninjemys + 树莓派V2摄像头

相关设备

• TB3套件：采购地址

前提说明

• 默认情况下，树莓派4上安装的Ubuntu mate 20.04是没有带有rpi-clone、rpi-imager 和 raspi-config等工具，需要额外安装

• 对于在创客智造上购买的Noetic版系统的tb3是已经配置好系统，不需要根据此教程重复安装，只需要按照文章最后的测试部分来测试摄像头即可

安装raspi-config配置工具

• 接上摄像头

注意排线的接线方向

• [TurtleBot] 下载raspi-config的deb包，官方链接

$ wget http://mirrors.ustc.edu.cn/archive.raspberrypi.org/debian/pool/main/r/raspi-config/raspi-config_20201108_all.deb

• [TurtleBot] 安装相关依赖包

$ sudo apt install lua5.1 libatopology2 libfftw3-single3 libsamplerate0 alsa-utils

• [TurtleBot] 安装deb包

$ sudo dpkg -i raspi-config_20201108_all.deb

• [TurtleBot] 挂载

$ df -h
Filesystem      Size  Used Avail Use% Mounted on
udev            781M    0  781M  0% /dev
tmpfs          185M  4.4M  181M  3% /run
/dev/mmcblk0p2  15G  12G  2.6G  82% /
tmpfs          925M    0  925M  0% /dev/shm
tmpfs          5.0M  4.0K  5.0M  1% /run/lock
tmpfs          925M    0  925M  0% /sys/fs/cgroup
/dev/mmcblk0p1  255M  118M  138M  46% /boot/firmware
tmpfs          185M  16K  185M  1% /run/user/1000

$ mount /dev/mmcblk0p1 /boot 

• [TurtleBot] 添加用户到群组

$ sudo usermod -aG video ubuntu

• [TurtleBot] 打开raspi-config配置

$ sudo raspi-config

• 选择 3 Interfacing Options

• 选择 P1 Camera

• Enable camera interface

• [TurtleBot] 安装V4l2工具包

$ sudo apt-get install v4l-utils
$ v4l2-ctl --list-devices
bcm2835-codec-decode (platform:bcm2835-codec):
        /dev/video10
        /dev/video11
        /dev/video12
        /dev/media1
bcm2835-isp (platform:bcm2835-isp):
        /dev/video13
        /dev/video14
        /dev/video15
        /dev/video16
        /dev/media0
mmal service 16.1 (platform:bcm2835-v4l2):
        /dev/video0

• 重启树莓派

• [TurtleBot] 检测是否接上摄像头

$ vcgencmd get_camera
supported=1 detected=1

• [TurtleBot] 设置完之后测试以下是否能正常使用，输入以下以下命令，正常情况下树莓派系统的桌面上会生成一张摄像头捕捉到的图像

$ raspistill -v -o $HOME/Desktop/test.jpg

安装raspicam_node包

• [TurtleBot] 添加库

$ sudo vim /etc/ros/rosdep/sources.list.d/30-ubiquity.list
## 使用vim新建list文件，现在以下内容后保存退出
yaml https://raw.githubusercontent.com/UbiquityRobotics/rosdep/master/raspberry-pi.yaml

• [TurtleBot] 更新相关依赖

$ rosdep update

• [TurtleBot] 创建工作空间，拉取raspicam_node源码

$ mkdir -p ~/raspicam_ws/src
$ cd ~/raspicam_ws/src/
$ git clone https://github.com/UbiquityRobotics/raspicam_node.git

• [TurtleBot] 配置和构建依赖项

$ cd ~/raspicam_ws
$ wstool init src
$ rosinstall_generator compressed_image_transport --rosdistro noetic --deps --wet-only --tar > compressed_image_transport-wet.rosinstall
$ rosinstall_generator camera_info_manager --rosdistro noetic --deps --wet-only --tar > camera_info_manager-wet.rosinstall
$ rosinstall_generator dynamic_reconfigure --rosdistro noetic --deps --wet-only --tar > dynamic_reconfigure-wet.rosinstall
$ rosinstall_generator diagnostics --rosdistro noetic --deps --wet-only --tar > diagnostics-wet.rosinstall
$ wstool merge -t src compressed_image_transport-wet.rosinstall
$ wstool merge -t src camera_info_manager-wet.rosinstall
$ wstool merge -t src dynamic_reconfigure-wet.rosinstall
$ wstool merge -t src diagnostics-wet.rosinstall

• [TurtleBot] 更新依赖

$ rosdep install --from-paths src --ignore-src --rosdistro=noetic -y 

• [TurtleBot] 编译

$ cd ~/raspicam_ws && catkin_make

• [TurtleBot] 添加环境设置

$ echo "source ~/raspicam_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

测试

• [TurtleBot] 启动摄像头

$ roslaunch raspicam_node camerav2_1280x960.launch
... logging to /home/ubuntu/.ros/log/b003402e-3b91-11ec-8eca-592b4088b58b/roslaunch-TB3BG-R12V300-3658.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:33303/

SUMMARY
========

PARAMETERS
 * /raspicam_node/camera_frame_id: raspicam
 * /raspicam_node/camera_id: 0
 * /raspicam_node/camera_info_url: package://raspica...
 * /raspicam_node/camera_name: camerav2_1280x960
 * /raspicam_node/enable_imv: False
 * /raspicam_node/enable_raw: False
 * /raspicam_node/framerate: 30
 * /raspicam_node/height: 960
 * /raspicam_node/private_topics: True
 * /raspicam_node/width: 1280
 * /rosdistro: noetic
 * /rosversion: 1.15.13

NODES
  /
    raspicam_node (raspicam_node/raspicam_node)

auto-starting new master
process[master]: started with pid [3668]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b003402e-3b91-11ec-8eca-592b4088b58b
process[rosout-1]: started with pid [3678]
started core service [/rosout]
process[raspicam_node-2]: started with pid [3681]
[ INFO] [1635825760.335948612]: splitter component done

[ INFO] [1635825760.505614804]: camera calibration URL: package://raspicam_node/camera_info/camerav2_1280x960.yaml
[ INFO] [1635825761.409805572]: Camera successfully calibrated from default file
[ INFO] [1635825761.410114440]: using default calibration URL
[ INFO] [1635825761.410347919]: camera calibration URL: file:///home/ubuntu/.ros/camera_info/camerav2_1280x960.yaml
[ INFO] [1635825761.410724082]: Unable to open camera calibration file [/home/ubuntu/.ros/camera_info/camerav2_1280x960.yaml]
[ WARN] [1635825761.410919728]: Camera calibration file /home/ubuntu/.ros/camera_info/camerav2_1280x960.yaml not found.
[ INFO] [1635825761.411116226]: No device specifc calibration found
[ INFO] [1635825761.544231332]: Starting video capture (1280, 960, 80, 30)

[ INFO] [1635825761.545560949]: Video capture started

• [TurtleBot] 打开rqt工具，选择对应话题

$ rqt_image_view

参考资料

• https://chuckmails.medium.com/enable-pi-camera-with-raspberry-pi4-ubuntu-20-10-327208312f6e

• https://jessestevens.com.au/2021/06/22/rpi-ros-noetic-raspicam-stereo/