isaac_ros_argus_camera

Set Up Development Environment

1. Set up your development environment by following the instructions in getting started.

2. Clone isaac_ros_common under ${ISAAC_ROS_WS}/src.

   cd ${ISAAC_ROS_WS}/src && \
      git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git
   

3. (Optional) Install dependencies for any sensors you want to use by following the sensor-specific guides.

   Warning

   We strongly recommend installing all sensor dependencies before starting any quickstarts. Some sensor dependencies require restarting the Isaac ROS Dev container during installation, which will interrupt the quickstart process.

Build isaac_ros_argus_camera

Run Launch File

Visualize Results

1. Open a new terminal inside the Docker container:

   cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
      ./scripts/run_dev.sh
   

2. Use image_saver to save the output images:

   ros2 run image_view image_saver --ros-args -r image:=/left/image_raw -p filename_format:="left_image.jpg"
   

   Stop the node by pressing Ctrl+C after saving the left image.

   ros2 run image_view image_saver --ros-args -r image:=/right/image_raw -p filename_format:="right_image.jpg"
   

   Stop the node by pressing Ctrl+C after saving the right image.

   Open the two images in your preferred image viewer to visualize the results.

Isaac ROS Troubleshooting

For solutions to problems with Isaac ROS, see troubleshooting.

Restarting the Argus Daemon

Argus is a library used by Isaac ROS on NVIDIA Jetson systems. It runs a daemon independent of ROS in a separate process to manage the camera. If you are having any sort of trouble with the camera, one of the first things you should try is restarting this daemon. From outside the container you can run:

sudo systemctl restart nvargus-daemon.service

This can resolve (Argus) Error EndOfFile and Failed to create capture session errors, among others. Generally these errors are caused by improper shutdown of a camera application.

Re-probing camera modules

If you are still having trouble with the camera, for example if restarting the daemon does not resolve a Failed to create capture session error, you can try re-probing the camera modules. This can be done from outside the container by running the following

sudo modprobe -r cam_cdi_tsc
sudo modprobe -r nv_hawk_owl
sudo modprobe nv_hawk_owl
sudo modprobe cam_cdi_tsc
sudo systemctl restart nvargus-daemon.service

Usage

ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_mono.launch.py

ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_stereo.launch.py

Argus Camera Mono Node

Argus Camera Stereo Node

Output Color Space Format

The Isaac ROS Argus node supports the YUV444 and YUV420 colorspaces from libargus and converts it to the RGB888 colorspace as output.

CameraInfo Message

The Isaac ROS Argus node uses the Argus Ext API to retrieve calibration parameters from the camera through the Linux device driver and convert it into CameraInfo messages. Refer to this page for the data structure of the calibration parameters.