About

This repository contains ROS 1 and ROS 2 drivers for the CANLAB CLPE-G-Series system. CLPE-G-Series is a multi camera grabber board for N2.0 GMSL camera. This drivers exposes camera images and information from CLPE-G-Series as ROS messages using the image_transport framework.

This branch contains the ROS 1 driver. For the ROS 2 driver, please switch to the main branch.

Environment(PC Specification)

• PC Model: Nuvo-8208GC
• CPU Cores : 12
• CPU Clock : 3.7Ghz
• DRAM Size : 64GB (32GB + 32GB)
• DRAM Type : DDR4

System Requirements

Requirements:

• CANLAB CLPE-G-Series with supplied PC running Ubuntu 20.04
• CLPE_G_Series_SDK
• ROS 1 Noetic

Note: It is strongly recommended to install Ubuntu 20.04 on the PC shipped with CLPE-G-Series. This way ROS 1 binaries can be installed as debian packages. If the PC is running Ubuntu 18.04, ROS 1 will need to be built from source which is not officially supported on Ubuntu 18.04. Alternatively, containers or VM may be used but the CLPE-G-Series drivers has to be properly passed through.

Setup

System dependencies

sudo apt update && sudo apt install git cmake wget gcc g++ libgstreamer-plugins-base1.0-dev python3-colcon* python3-rosdep python3-vcstool -y

ROS 1 Installation

Depending on the version of Ubuntu installed, follow the instructions in the links above to install ROS 1 Noetic binaries or from source. To source ROS 1

source /opt/ros/noetic/setup.bash # if binaries are installed
source ~/ros1_noetic/install/setup.bash # if installed from source following link above

Install CLPE SDK and ROS 1 Driver

Create workspace

mkdir -p ~/ws_clpe/src
cd ~/ws_clpe/
wget https://raw.githubusercontent.com/canlab-co/clpe_ros/noetic/clpe.repos
vcs import src < clpe.repos

Install dependencies

cd ~/ws_clpe
# source your ROS 1 workspace before this command
sudo rosdep init # if you have not done this before
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro noetic -y

Build the driver

cd ~/ws_clpe
# source your ROS 1 workspace if you have not already
catkin_make install --cmake-args -DCMAKE_BUILD_TYPE=Release
# To also build the benchmarking scripts
catkin_make install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCLPE_ROS_BUILD_BENCHMARKS=On

Run the driver

Launch

cd ~/ws_clpe
source install/setup.bash
** UYVY **
roslaunch clpe_ros clpe_ros.launch password:=<sudo-password> slave:=n encoding:=yuv422 timestamp:=xavier
** JPEG **
roslaunch clpe_ros clpe_ros.launch password:=<sudo-password> slave:=n encoding:=jpeg timestamp:=local

Note: If sudo-password is a number, say 42, you should pass it as password:=\'42\'
If you have not equipped slave CLPE-G-Series, you should enter slave:=n

By default the driver will publish topics per camera (X).

• /clpe_ros/cam_X/image_raw: The raw image published as sensor_msgs::Image.
• /clpe_ros/cam_X/compressed: The JPEG image published as sensor_msgs::CompressedImage.
• The default encoding is yuv422. For other supported encodings, see Configuration below.

Frame rate per sensor

• CLCC-G-01X 8CH
  UYVY - 30 fps
  JPEG - 30 fps
• CLCC-G-02X 8CH
  UYVY - 24~25 fps
  JPEG - 30 fps

Visualizing in Rviz

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