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NVIDIA-ISAAC-ROS / isaac_ros_argus_camera

ROS 2 packages based on NVIDIA libArgus library for NVIDIA-accelerated CSI camera support.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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Low FPS IMX477 on Jetson Orin Nano Dev Kit #33

Closed furkansariyildiz closed 1 year ago

furkansariyildiz commented 1 year ago

Hello Everyone, I am using isaac_ros_argus_camera package to get image via using IMX477 Arducam and Jetson Orin Nano. When I run ros2 launch isaac_ros_argus_camera isaac_ros_argus_camera_mono.launch.py command, it works but fps is very low. Response of ros2 topic hz /left/image_raw is 10.0 hz. By the way I am trying to change mode and framerate from argus_camera_mono_node.yaml but it is not changing and launch command returns Failed to get calibration data from Argus!

Thanks for everything!

jaiveersinghNV commented 1 year ago

Could you confirm that you're running your Jetson in the maximum power mode? See this comment for more information.

Please note that Isaac ROS Argus Camera is meant to work with specific cameras whose vendors have provided camera drivers that are compatible with NVIDIA's libArgus. The list of NVIDIA-verified compatible cameras is available here.

furkansariyildiz commented 1 year ago

Thanks for your response @jaiveersinghNV,

I am using 15W Power Mode. By the way, the camera which I try to use is IMX477 and its name is on compatible camera list.

jaiveersinghNV commented 1 year ago

The Sony IMX477 is a popular image sensor that many different camera vendors have used as a component of their complete camera solutions. The compatibility chart for Isaac ROS Argus Camera specifically lists Leopard Imaging's IMX477-based monocular camera, not Arducam's. Leopard Imaging has worked with NVIDIA to produce a special Argus-compatible device driver. Even though your camera uses the same image sensor as one that is supported, there is no Arducam-provided Argus-compatible driver, and thus your camera will not work with Isaac ROS Argus Camera.

If you are interested in using Isaac ROS Argus Camera with a different camera, please contact your camera's vendor and ask them to provide a driver that is compatible with NVIDIA's Argus library.

Of course, you can always use a standard non-Argus camera driver to extract images from your Arducam camera and publish them as ROS Image messages. While there may be a performance penalty compared against an Argus-compatible camera + driver, you will still be able to use other nodes in the Isaac ROS suite of packages.

furkansariyildiz commented 1 year ago

Thank you @jaiveersinghNV,

I will try again with sudo /usr/bin/jetson_clocks command again. If it will not solve my problem, I'll try to use nvargus and get image via using OpenCV libraries. Have a nice day!