Rover Cameras Documentation

Guide to start every camera node with commands.

With the jetson, we have an alias for source install/setup.bash, which let us use it simply with s

1. ZED 2i

The ZED camera provides depth sensing and spatial tracking, just like the human eye!

Startup Procedure

1. Open a terminal on the Jetson, navigate to the ZED workspace, and source the environment:

   cd ~/ros2_zed_ws/
   s
   

2. Launch the camera node:

   ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i
   

Visualization

Keep the Jetson terminal open. On your local PC terminal, run:

ros2 run rqt_image_view rqt_image_view

2. Intel RealSense D435i

The RealSense is used for high-accuracy short-range depth sensing, attached on Bracc8.

Startup Procedure

Open a terminal on the Jetson and execute the following command:

ros2 launch realsense2_camera rs_launch.py

3. Insta360 X4

The Insta360 provides a 360-degree field of view, processed into five distinct views.

Camera Startup

1. Physical Connection: Ensure the Insta360 is connected via a USB 3.0 cable from the Jetson's USB-A port to the camera's USB-C port.
2. Device Mode: Verify the camera is set to "Webcam Mode" on its built-in touchscreen.
3. Hardware Check: Identify the correct video device index:

   v4l2-ctl --list-devices
   

   Look for the Insta360 entry (e.g., /dev/video2). If the index is different, replace video2 in the following command.
4. Launch:

   cd ~/insta360_ws
   source install/setup.bash
   ros2 launch insta360_vision insta360.launch.py video_device:=/dev/video2
   

Virtual PTZ Teleop

The Insta360 system allows you to use a "virtual" Pan-Tilt-Zoom camera. This enables you to move the lens digitally to inspect the surroundings.

1. Open a second terminal on the Jetson.
2. Navigate to the workspace and start the teleop node:

   cd ~/insta360_ws
   source install/setup.bash
   ros2 run insta360_vision ptz_teleop
   

Controls Reference:

• WASD / Arrow Keys: Move the camera view Up, Down, Left, or Right.
• 1, 2, 3: Change movement speed presets (Precision, Medium, Fast).
• G / F: Manually increase or decrease the movement step size.
• 4: Instant 180-degree turn (U-turn).

Troubleshooting Summary