I’m working with a jetson nano with jetpack 4.6.1 with ubuntu 18.04, I’m using nvidia’s recommended docker for ros2 humble desktop.
I’m trying to use package for converting rplidar scan data and camara video into topics and I’m not being able. If there is a way that had worked for someone I would be happy if you share it with me.
The things that I tried are the following:
I had compiled sllidar_ros2 (GitHub - Slamtec/sllidar_ros2) pkg and v4l2_camera pkg ( GitHub - tier4/ros2_v4l2_camera: Forked from https://gitlab.com/boldhearts/ros2_v4l2_camera). I gave privilege to the serial ports that the jeston reads (dev/ttyUSB0 and dev/video0) and I can see them inside the docker using bash command “ls”.
But when I try to execute the sllidar node as :
ros2 launch sllidar_ros2 view_sllidar_a1_launch.py
It gives me this error:
[ERROR] [1696854026.307146787] [sllidar_node]: Error, operation time out. SL_RESULT_OPERATION_TIMEOUT!
I had checked in few post and any of the solutions provided helped me.
Then when I run the v4l2 nodes like:
ros2 run v4l2_camera v4l2_camera_node
It gives me this(what seems being working perfectly) :
[INFO] [1696859778.972843018] [v4l2_camera]: Driver: tegra-video
[INFO] [1696859778.973159781] [v4l2_camera]: Version: 264703
[INFO] [1696859778.973238425] [v4l2_camera]: Device: vi-output, imx219 7-0010
[INFO] [1696859778.973283945] [v4l2_camera]: Location: platform:54080000.vi:0
[INFO] [1696859778.973325402] [v4l2_camera]: Capabilities:
[INFO] [1696859778.973366391] [v4l2_camera]: Read/write: NO
[INFO] [1696859778.973417692] [v4l2_camera]: Streaming: YES
[INFO] [1696859778.973479565] [v4l2_camera]: Current pixel format: YUYV @ 3264x2464
[INFO] [1696859778.973670238] [v4l2_camera]: Available pixel formats:
[INFO] [1696859778.973717216] [v4l2_camera]: RG10 - 10-bit Bayer RGRG/GBGB
[INFO] [1696859778.973757788] [v4l2_camera]: Available controls:
[INFO] [1696859778.974774326] [v4l2_camera]: Requesting format: 640x480 YUYV
[INFO] [1696859778.974930520] [v4l2_camera]: Success
[INFO] [1696859778.975673835] [v4l2_camera]: Starting camera
but when I check for the topic /image_raw nothing is being published.
I don’t know if I’m making a mistake trying to read ports inside a docker or if I’m missing something.