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tier4 / sensor_trigger

ROS node for triggering cameras using GPIO on Jetson (targeting ROSCubeX, but easily adaptable to other platforms)
Apache License 2.0
6 stars 3 forks source link

Update for Jetpack 6 #32

Open franzrammerstorfer opened 2 weeks ago

franzrammerstorfer commented 2 weeks ago

Hello all, I want to use this package for a Jetson Orin with Ubuntu 22.04, Jetpack 6 and Ros2 humble. Any updates planned, and/or what is the roadmap for this project? BR Franz

manato commented 1 week ago

@franzrammerstorfer Hi Franz! While the default branch name is galactic, we've confirmed the code also works on ROS2 Humble because the code does not use galactic-specific functionality. FYI: This project assumes some specific ECU as a working environment since the GPIO pin number differs depending on ECUs. We've confirmed on RQX-58G from ADLINK Inc. and Anill from ConnectTech Inc. If you would like to use this project on another platform, you may need to explore pin assign for your environment.

Thanks!

franzrammerstorfer commented 4 days ago

Hello, thanks for your response. I think the problem is not galactic vs humble, but the different management of the gpio devices. For example, in jetpack 5 we use "sys/class/gpio" whereas in jetpack 6 we use "/dev/gpiochip0". Hence, the sensor_trigger software needs to be adapted.

BR Franz