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ADLINK GMSL ROS2 Driver Usage

  • Supported ROS version: ROS Foxy

Installation

  • Install ROS Foxy first.

  • Install the dependent packages.

    sudo apt install -y libgstreamer1.0-dev

  • Install the debian package of ADLINK GMSL ROS2 Driver.

    sudo apt install ./ros-foxy-gmsl-ros2_<version>bionic_arm64.deb

  • The ROS2 package will be installed under /opt/ros/foxy.

Usage

  • You can run ADLINK ROS2 driver after source the ROS Foxy.

    source /opt/ros/foxy/setup.bash

  • Run the launch file.

    ros2 launch gmsl_ros2 <launch file name>

  • There are some launch files can be run:

    • gmsl_launch.py: Publish the image received from GMSL.
    • gmsl_composition_launch.py: Use ROS 2 composition for zero copy.
    • multi_camera_launch.py: Two cameras example.
    • multi_camera_composition_launch.py: Two cameras example with ROS 2 composition for zero copy.

gmsl_launch.py

Use the launch file to get raw image from GMSL.

ros2 launch gmsl_ros2 gmsl_launch.py

# Otherwise, open /dev/video2 and display the image in RViz
ros2 launch gmsl_ros2 gmsl_launch.py camera_dev:=/dev/video2 open_rviz:=true

Available parameters:

  • open_rviz: Set it to true if you also want to open rviz. Default is false.
  • camera_dev: The camera device you want to use. Default is /dev/video0.

Available topics:

  • /camera/image_raw: Raw image from GMSL camera
  • /camera/camera_info: The camera information for calibration

gmsl_composition_launch.py

Use ROS 2 composition for both image publisher and subscriber can avoid memory copy, decrease CPU usage.

ros2 launch gmsl_ros2 gmsl_composition_launch.py

# Otherwise, open /dev/video2 and display the image in RViz
ros2 launch gmsl_ros2 gmsl_composition_launch.py camera_dev:=/dev/video2 open_rviz:=true

Available parameters:

  • open_rviz: Set it to true if you also want to open rviz. Default is false.
  • camera_dev: The camera device you want to use. Default is /dev/video0.

Available topics:

  • /camera/image_raw: Raw image from GMSL camera
  • /camera/camera_info: The camera information for calibration

multi_camera_launch.py

Use this launch to run two GMSL cameras.

ros2 launch gmsl_ros2 multi_camera_launch.py

# Show image in rviz (will increase CPU usage)
ros2 launch gmsl_ros2 multi_camera_launch.py open_rviz:=true

Available parameters:

  • open_rviz: Set it to true if you also want to open rviz. Default is false.

Available topics:

  • /camera0/image_raw: Raw image from GMSL camera0
  • /camera0/camera_info: The camera0 information for calibration
  • /camera1/image_raw: Raw image from GMSL camera1
  • /camera1/camera_info: The camera1 information for calibration

Note:

  • Image rendering will increase the CPU usage, it's better not to show the image for saving the computing power.
  • You can adjust the number of cameras and the namespace by modifying the launch file at /opt/ros/foxy/share/gmsl_ros2/launch/multi_camera_launch.py

multi_camera_composition_launch.py

Use this launch to run two GMSL cameras with GMSL composable nodes.

ros2 launch gmsl_ros2 multi_camera_composition_launch.py

# Show image (will increase some CPU usage because of image rendering)
ros2 launch gmsl_ros2 multi_camera_composition_launch.py show_image:=true

# Show image in rviz (will increase more CPU usage because of memory copying to RViz)
ros2 launch gmsl_ros2 multi_camera_composition_launch.py open_rviz:=true

Available parameters:

  • image_show: Set it to true to rendering the images by using nodelet image_view. Default is false.
  • open_rviz: Set it to true if you also want to open rviz. Default is false.

Available topics:

  • /camera0/image_raw: Raw image from GMSL camera0
  • /camera0/camera_info: The camera0 information for calibration
  • /camera1/image_raw: Raw image from GMSL camera1
  • /camera1/camera_info: The camera1 information for calibration

Note:

  • Image rendering will increase the CPU usage, it's better not to show the image for saving the computing power.
  • You can adjust the number of cameras and the namespace by modifying the launch file at /opt/ros/foxy/share/gmsl_ros2/launch/multi_camera_composition_launch.py

Uninstallation

sudo apt remove ros-foxy-gmsl-ros2

Zero-copy verification

# Terminal 1: publisher
ros2 launch gmsl_ros2 gmsl_composition_launch.py

# Terminal 2: Use iftop to verify zero-copy
sudo iftop -i lo

# Terminal 3: subscriber1
ros2 component load /camera_container image_view image_view::ImageViewNode -r image:=/camera/image_raw -n subscriber1 -e use_intra_process_comms:=true

# Terminal 4: subscriber2
ros2 component load /camera_container image_tools image_tools::ShowImage -r image:=/camera/image_raw -n subscriber2

# Terminal 5: subscriber3 w/o composable node, memory copy happens!
ros2 run image_view image_view --ros-args -r image:=/camera/image_raw -r __name:=subscriber3