Noetic branch/tag

[alvgaona]

Hey, is it possible to create a branch for the noetic distro? And, also, maybe a tag off of it.

Up to this moment, the kinetic branch compiles and runs successfully in noetic. It's quite confusing to people looking for a node to drive the Raspberry Pi Camera in Noetic. It'd be also quite interesting to publish it to index.ros.org.

If you think this is doable, I offer myself to create a PR with the changes.

[anfederman]

raspicam_node does run in noetic on a raspberry pi 4/3 (Ubuntu 20.04) as long as /opt/vc is built for ARM32.

sudo snap install rpi-userland –edge sudo copy the userland/opt/vc from snap to opt/vc

(this installs the mmal libraries) (after which you should be able to run raspistill, as long as your boot config.txt has

start_x=1

gpu_mem=128

Please note this will NOT work on the ARM64 version of Pi Ubuntu 20.04.

then catkin_make the raspicam_node.

On Wed, Sep 1, 2021 at 10:01 AM Alvaro Gaona @.***> wrote:

Hey, is it possible to create a branch for the noetic distro? And, also, maybe a tag off of it.

Up to this moment, the kinetic branch compiles and runs successfully in ROS. It's quite confusing for people looking for a node to drive the Raspberry Pi Camera in Noetic.

If you think this is doable, I offer myself to create a PR with the changes.

Note: It'd be also quite interesting to publish it to index.ros.org https://index.ros.org/p/raspicam_node/github-UbiquityRobotics-raspicam_node

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/UbiquityRobotics/raspicam_node/issues/119, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ37YFAMGSMPACYI7XDI3T7ZL6TANCNFSM5DG5SJAQ . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

[alvgaona]

Thanks, @anfederman, for the quick response. In order to have the camera running with raspivid, raspistill, and so on, you just need to install libraspberrypi-dev in Ubuntu 20.04. This installs MMAL libraries.

Lastly, I need to differ with you on:

Please note this will NOT work on the ARM64 version of Pi Ubuntu 20.04.

Because I have raspicam_node working on ARM64 and Ubuntu 20.04.

Nevertheless, this is not what I was asking in this issue. The main reason of this issue is to create a noetic version of this code, which is simply creating a branch for that distro. Is this something I could do?

[anfederman]

Hmm - I did get raspicam_node to run on ARM64 - it catkin made, and I was able to run rqt_image_view. There was an c++ error during the make. So I am not sure if mmal is working properly. I will have to test further. As far as ubiquityrobotics is concerned, if mmal works on ARM64, we will eventually release our 'noetic' deb. Please contact Rohan about creating a noetic branch, but I am not sure that it would be any different that what we have now. send2arohan@gmail.com

[pitosalas]

Sorry to come in late. I don't know who send2arohan@gmail.com is but we still are stumped trying to get raspicam_node to run on noetic on Ubuntu 20.04. Is this a solved problem? I would really really appreciate a lead or tip here. At this point I feel like we've read everything on the web about this problem and are still stuck. Thanks for your help!

[anfederman]

I am certain it works on raspberry pi arm32. Check the forum. It is a matter of adding a library. I think it also works on arm64, but I need to check. I am away from my computer. I forget the name of the library off the top of my head. Had stumped for months.

On Wed, Nov 24, 2021, 6:03 PM Pito Salas @.***> wrote:

Sorry to come in late. I don't know who @.*** is but we still are stumped trying to get raspicam_node to run on noetic on Ubuntu 20.04. Is this a solved problem? I would really really appreciate a lead or tip here. At this point I feel like we've read everything on the web about this problem and are still stuck. Thanks for your help!

— You are receiving this because you modified the open/close state. Reply to this email directly, view it on GitHub https://github.com/UbiquityRobotics/raspicam_node/issues/119#issuecomment-978731887, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ37ZQHMMNE5FBJNTCHT3UNWKONANCNFSM5DG5SJAQ . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

[MoffKalast]

@pitosalas are you using a raspbian kernel or a stock ubuntu image from canonical?

[alvgaona]

@pitosalas this already works in Ubuntu Mate 20.04 arm64 as I described above. This should not be any different from Canonical's image whatsoever.

[Aringan0323]

@alvgaona I'm working with @pitosalas on this project and we have been able to successfully access the camera and use the raspicam_node on arm32 but not on arm64. The Ubuntu installation we were initially using was this one from the Turtlebot3 user manual, and it don't believe it has the raspbian kernal installed by default. This is the tutorial that I followed to enable the camera on a fresh install of Ubuntu 20.04 LTS 32bit and it worked, but it requires mmal libraries from the UserLand github repository which does not have 64bit support any more. If anyone has found an alternative way to access the raspberry pi camera and use raspicam_node on Ubuntu 20.04 we would appreciate some help.

[anfederman]

sudo apt install libraspberrypi-bin libraspberrypi-dev

If you have a desktop then you can see if:

raspistill -o test.jpg

works. raspicam_node should work after that.

Here are the notes for my build. I am pretty sure pifi won't install on arm64.

On Fri, Nov 26, 2021 at 3:41 PM Adam Ring @.***> wrote:

@alvgaona https://github.com/alvgaona I'm working with @pitosalas https://github.com/pitosalas on this project and we have been able to successfully access the camera and use the raspicam_node on arm32 but not on arm64. The Ubuntu installation we were initially using was this one https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#download-turtlebot3-sbc-image from the Turtlebot3 user manual, and it don't believe it has the raspbian kernal installed by default. This https://zengliyang.wordpress.com/2021/01/04/raspberry-pi-4b-ubuntu-20-04-camera/ is the tutorial that I followed to enable the camera on a fresh install of Ubuntu 20.04 LTS 32bit and it worked, but it requires mmal libraries from the UserLand https://github.com/raspberrypi/userland github repository which does not have 64bit support any more. If anyone has found an alternative way to access the raspberry pi camera and use raspicam_node on Ubuntu 20.04 we would appreciate some help.

— You are receiving this because you modified the open/close state. Reply to this email directly, view it on GitHub https://github.com/UbiquityRobotics/raspicam_node/issues/119#issuecomment-980468633, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ37ZVPLYVFTWCVJUSJILUOALK5ANCNFSM5DG5SJAQ . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

Starting from a Pi ARM64 server install add wifi by editing the netplan:

15 sudo vi /etc/netplan/50-cloud-init.yaml 16 sudo netplan --debug apply 17 ifconfig 18 sudo apt update

add netools and ssh

19 sudo apt install net-tools openssh-server 20 sudo apt upgrade

29 ifconfig

add desktop 30 sudo apt-add-repository ppa:lubuntu-desktop/ppa 31 sudo apt install lubuntu-desktop

Add camera support libraries and test:

0 sudo apt install libraspberrypi-bin libraspberrypi-dev 41 raspistill -o test.jpg

make sure config has start_x=1 and gpu_mem=128 specified 44 cd /boot 45 ls 46 cd firmware/ 47 ls *.txt 48 more config.txt 49 more cmdline.txt 50 sudo vi config.txt

Install ros noetic desktop full and other ubiquity nodes from debs or git:

56 sudo apt install ros-noetic-raspicam-node 57 sudo apt install ros-noetic-magni-robot 60 source /opt/ros/noetic/setup.bash 61 roscd 62 sudo rosdep init 63 sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool 64 ls 65 sudo rosdep init 70 sudo snap install rpi-userland --edge 71 cd 72 mkdir -p ~/catkin_ws/src 73 cd catkin_ws/ 74 catkin_make 75 cd src/ 76 git clone http://github.com/ubiquityrobotics/raspicam_node 77 cd .. 78 source ~/catkin_ws/devel/setup.bash 79 roscd 80 cd 81 cd catkin_ws/ 82 catkin_make 94 roslaunch raspicam_node camerav2_410x308_30fps.launch 95 history 96 cd catkin_ws/src/ 97 git clone http://github.com/ubiquityrobotics/magni_robot 98 git clone http://github.com/ubiquityrobotics/pi_sonar 99 git clone http://github.com/ubiquityrobotics/oled_display 100 git clone http://github.com/ubiquityrobotics/oled_display_node 101 git clone http://github.com/ubiquityrobotics/ubiquity_motor 102 cd .. 103 ls src 104 cd .. 105 catkin_make 106 cd catkin_ws/ 107 catkin_make 108 cd src/ 109 git clone http://github.com/wjwwood/serial 111 catkin_make 112 cd 113 wget https://github.com/joan2937/pigpio/archive/master.zip 114 unzip master.zip 115 cd pigpio-master/ 116 make 117 sudo make install 118 cd 158 git clone http://github.com/ubiquityrobotics/fiducials 159 cd .. 160 catkin_make --pkg fiducials 161 sudo apt install ros-noetic-vision-msgs 162 catkin_make --pkg fiducials 163 rostopic list 164 sudo apt install ros-noetic-vision-aruco-detect 165 sudo apt install ros-noetic-aruco-detect 166 roscd 167 source .bashrc 168 roscd

finally copy camera_info to .ros

then raspicam_node launch followed by aruco_detect.launch work

[fabiocyro]

Sorry to come in late. I don't know who send2arohan@gmail.com is but we still are stumped trying to get raspicam_node to run on noetic on Ubuntu 20.04. Is this a solved problem? I would really really appreciate a lead or tip here. At this point I feel like we've read everything on the web about this problem and are still stuck. Thanks for your help!

Hello, I have raspicam_node working with Ubuntu 20.04 and on a turtlebot3 also.

It works normally.

Unfortunally i'm having trouble to make it work with a package called Autorace haha