valentinomario / camera_driver

Camera Driver for ROS 2

This ROS 2 Humble package implements a GPU-accelerated camera driver for NVIDIA Jetson platforms. It captures video from a camera sensor using GStreamer, processes frames using OpenCV with CUDA acceleration, and publishes images over ROS 2.

The driver was specifically meant to run for the LiDAR-Visual-Inertial-SLAM Project.

Dependencies

• ROS 2 Humble
• OpenCV with CUDA support
• GStreamer

Installation

Clone this repository into your ROS 2 workspace:

git clone <repository-url> ~/ros2_ws/src
colcon build --symlink-install

Usage

Launch the camera driver with:

ros2 launch camera_driver camera_driver.launch.py

Configuration

Adjust parameters in driver_options.yaml located in the config directory.

Published Topics

• /camera/image_raw (sensor_msgs/msg/Image): Raw grayscale image stream from the camera.