demos_custom

Clearbot

In order to run multiple cam2image and lock the camera device on specific USB port of the Jetson, image_tools_custom is created.

1. Install launch_testing_ament_cmake

	sudo apt install ros-dashing-launch*

2. Lock camera

Default cameras are two Arducams Please replace "/media/clearbot/eeffe203-9376-4abb-9428-2bb29c2e299e1" with the path of your 16GB emmc

	sudo cp /home/clearbot/ws/src/demos_custom/image_tools/etc/udev/rules.d/80-uvccam.rules /etc/udev/rules.d/
	sudo cp /home/clearbot/ws/src/demos_custom/image_tools/etc/udev/rules.d/80-uvccam.rules /media/clearbot/eeffe203-9376-4abb-9428-2bb29c2e299e1/etc/udev/rules.d
	sudo udevadm control --reload-rules
	sudo service udev restart
	sudo udevadm trigger

Check the symlink of the cameras

	ls -l /dev/video*

You will see /dev/videox and /dev/videoy which are linking to the video device

3. Build image_tools_custom in ros2 workspace

	colcon build --packages-select image_tools_custom

4. Run cam2image_custom_0 and cam2image_custom_2

Open a new terminal

	ros2 run image_tools_custom cam2image_custom_0

Open another new terminal

	ros2 run image_tools_custom cam2image_custom_2