Dev

camera_ros/CMakeLists.txt

@@ -5,22 +5,59 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
+# Find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# Generate Python classes for the custom service
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/GetInt.srv"
+  DEPENDENCIES std_msgs
+  ADD_LINTER_TESTS
+)
+
+# Install Python scripts
+install(PROGRAMS
+  scripts/camera_publisher.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install launch files
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Install launch files
+install(FILES
+  launch/camera.launch.py
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+# Install package.xml
+install(FILES
+  package.xml
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Install README
+install(FILES
+  README.md
+  DESTINATION share/${PROJECT_NAME}/
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+# Export the generated interfaces
+ament_export_dependencies(rosidl_default_runtime)
+
 ament_package()

camera_ros/README.md

@@ -0,0 +1,207 @@
+# Zero-Copy MJPEG Camera Publisher for ROS2
+
+A high-performance camera publisher optimized for NVIDIA Jetson AGX Orin that provides zero-copy MJPEG streaming with minimal CPU overhead.
+
+## Features
+
+- 🚀 **Zero-copy MJPEG streaming** - No CPU transcoding overhead
+- ⚡ **High performance** - Optimized for NVIDIA Jetson AGX Orin
+- 🎯 **Smart frame rate control** - Dynamic FPS adjustment
+- 🔄 **Automatic client management** - Activates when clients detected, pauses when none
+- 📡 **Client count monitoring** - Listens to `/client_count` topic for automatic control
+- 🛠️ **GStreamer pipeline** - Hardware-accelerated video processing
+
+## Requirements
+
+- NVIDIA Jetson AGX Orin (tested on 64GB model)
+- ROS2 Humble
+- Python 3.10+
+- OpenCV with GStreamer support
+- GStreamer 1.0+
+
+## Usage
+
+### Prerequisites
+
+**Source the ROS environment:**
+```bash
+# Navigate to your workspace
+cd /home/dev/lucy_ws
+
+# Source ROS Humble
+source /opt/ros/humble/setup.zsh
+
+# Source your workspace
+source install/setup.zsh
+```
+
+### Launch Methods
+
+**Basic launch (camera activates automatically when clients connect):**
+```bash
+ros2 launch camera_ros camera.launch.py
+```
+
+**Launch with custom parameters:**
+```bash
+ros2 launch camera_ros camera.launch.py fps:=20.0 device:=/dev/video0
+```
+
+### Automatic Client Management
+
+The camera automatically activates and deactivates based on client count:
+
+**Client count monitoring:**
+- Camera **activates** when `client_count > 0`
+- Camera **pauses** when `client_count = 0`
+- Monitors `/client_count` topic for automatic control
+
+### Topics
+
+**Published topics:**
+- `/camera/mobius/jpg` - CompressedImage (JPEG format, published only when clients are present)
+
+**Subscribed topics:**
+- `/client_count` - Int32 (monitors client count for automatic activation/deactivation)
+
+## Configuration
+
+### Camera Settings
+
+Edit `src/camera_publisher.py` to modify:
+
+```python
+# Frame rate (1.0 - 30.0 FPS)
+FPS = 10.0
+
+# GStreamer pipeline
+GST_PIPELINE = (
+    "v4l2src device=/dev/video0 ! "
+    "image/jpeg,width=1280,height=720,framerate=30/1 ! "
+    "jpegparse ! "
+    "appsink drop=true emit-signals=true sync=false"
+)
+```
+
+### Resolution Options
+
+For different resolutions, modify the GStreamer pipeline:
+
+```python
+# 640x480 (lower CPU usage)
+GST_PIPELINE = "v4l2src device=/dev/video0 ! image/jpeg,width=640,height=480,framerate=30/1 ! jpegparse ! appsink drop=true emit-signals=true sync=false"
+
+# 1920x1080 (higher quality, more CPU)
+GST_PIPELINE = "v4l2src device=/dev/video0 ! image/jpeg,width=1920,height=1080,framerate=30/1 ! jpegparse ! appsink drop=true emit-signals=true sync=false"
+```
+
+## Performance Optimization
+
+### System-Level Optimizations
+
+1. **Set CPU governor to performance mode:**
+   ```bash
+   sudo jetson_clocks
+   ```
+
+2. **Check camera device:**
+   ```bash
+   ls /dev/video*
+   v4l2-ctl --device=/dev/video0 --list-formats-ext
+   ```
+
+3. **Monitor performance:**
+   ```bash
+   # Monitor CPU usage
+   htop
+
+   # Monitor Jetson stats
+   tegrastats
+
+   # Check frame rate
+   ros2 topic hz /camera/mobius/jpg
+   ```
+
+### Troubleshooting
+
+#### Common Issues
+
+**Camera not found:**
+```bash
+# Check USB devices
+lsusb
+
+# Check video devices
+ls /dev/video*
+
+# Check camera capabilities
+v4l2-ctl --list-devices
+v4l2-ctl --device=/dev/video0 --list-formats-ext
+
+# Reload camera driver
+sudo modprobe uvcvideo
+```
+
+**High CPU usage:**
+- Reduce frame rate to 10-15 FPS
+- Use lower resolution (640x480)
+- Check for background processes
+- Ensure CPU is in performance mode
+- Use `jetson_clocks` for maximum performance
+
+**ExternalShutdownException error:**
+This usually occurs when the node is terminated externally. To prevent this:
+```bash
+# Use Ctrl+C to stop the node gracefully
+# Or use the service to disable camera first
+ros2 service call /camera/mobius/enable std_srvs/srv/SetBool "{data: false}"
+```
+
+## Architecture
+
+```
+Camera (/dev/video0)
+    ↓
+GStreamer Pipeline (v4l2src → jpegparse → appsink)
+    ↓
+OpenCV VideoCapture (zero-copy)
+    ↓
+ROS2 CompressedImage Publisher
+    ↓
+Client Applications
+```
+
+## API Reference
+
+### CameraPublisher Class
+
+**Methods:**
+- `set_fps(fps)` - Set frame rate (1.0-30.0)
+- `set_active(active)` - Enable/disable camera
+
+**Parameters:**
+- `fps` - Target frame rate
+- `device` - Camera device path
+
+## Contributing
+
+1. Fork the repository
+2. Create a feature branch
+3. Make your changes
+4. Test on Jetson AGX Orin
+5. Submit a pull request
+
+## License
+
+This project is licensed under the GNU General Public License v3.0 - see the LICENSE file for details.
+
+## Authors
+
+- **Sentience Robotics Team** - [[email protected]](mailto:[email protected])
+
+## Support
+
+For issues and questions:
+- Check the troubleshooting section
+- Open an issue on GitHub
+- Contact the development team

camera_ros/camera_ros/__init__.py

@@ -0,0 +1,21 @@
+# Copyright 2024 Sentience Robotics Team
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+"""
+Camera ROS Package.
+
+Zero-copy MJPEG camera publisher optimized for NVIDIA Jetson AGX Orin."""
+
+__version__ = "1.0.0"

camera_ros/launch/camera.launch.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+# Copyright 2024 Sentience Robotics Team
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+"""
+Launch file for zero-copy MJPEG camera publisher.
+
+This launch file starts the camera node with optimized settings for NVIDIA Jetson AGX Orin."""
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, LogInfo
+from launch.substitutions import LaunchConfiguration
+
+def generate_launch_description():
+    # Launch arguments
+    fps_arg = DeclareLaunchArgument(
+        'fps',
+        default_value='15.0',
+        description='Camera frame rate (1.0-30.0 FPS)'
+    )
+
+    device_arg = DeclareLaunchArgument(
+        'device',
+        default_value='/dev/video0',
+        description='Camera device path'
+    )
+
+    # Camera node
+    camera_node = Node(
+        package='camera_ros',
+        executable='camera_publisher.py',
+        name='camera_publisher',
+        output='screen',
+        parameters=[{
+            'fps': LaunchConfiguration('fps'),
+            'device': LaunchConfiguration('device'),
+        }],
+    )
+
+    return LaunchDescription([
+        fps_arg,
+        device_arg,
+        LogInfo(msg='Starting zero-copy MJPEG camera publisher with automatic client-based activation'),
+        camera_node,
+    ])