Status: This software is under active development. Please submit an Issue with any questions.
This is a minimum-working-example ROS2 driver for two cameras published via libargus, the Image Signal Processor (ISP) SW/HW provided by the Jetpack OS for Jetson devices. It uses EGL/CUDA to perform YUV -> RGB mapping.
We are developing on a Jetson Orin Nano development kit running Jetpack 6.2 with two IMX296-based Vision Components camera modules. For our testing, we run ROS2 "humble" built from source with our custom installer. However as Jetpack 6.2 is based on Ubuntu 22.04, it should work with the standard "humble" packages from the ROS archive.
This software is mostly generic, but contains a few customizations specific to our case:
- It contains constants specific to our cameras (sensor size, etc.)
- We use GPIOs on the Jetson Nano board for external triggering. This code contains a simple hardware loop for triggering the cameras. The driver uses external triggering by default.
Argus Stereo Sync requires ROS2 and the Jetson Multimedia API.
Follow these steps to create a ROS workspace:
$ mkdir -p ros_ws/src && cd ros_ws/src
$ git clone https://github.com/apl-ocean-engineering/vc-stereo-ros2.git
$ vcs import --skip-existing < vc-stereo-ros2/vc-stereo-ros2.repos
$ cd ..
$ colcon buildThis will build the package. To run the stereo node, type:
$ source install/setup.bash
$ ros2 launch vc_stereo_ros2 stereo.launch.xmlThe node accepts a number of parameters which control:
- Whether the cameras are triggered internall or via external hardware triggers
- The camera framerate
- The camera calibration published through
camera_info
See the sample launchfile for documentation.
This driver is based on, but signicantly evolved from NeilKhera/argus_stereo_sync which is itself based on sample code from the Jetson Multimedia API. It retains the MIT license of that original version.
MIT License. Copyright (c) 2025 University of Washington
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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