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The hobot_hdmi package is used to display image messages published by a ROS2 Node through HDMI. It supports ROS standard format and also supports subscribing via shared memory.
- sensor_msgs
- hbm_img_msgs
hbm_img_msgs is a custom message format used for publishing shared memory type image data, defined in hobot_msgs.
- Programming Language: C/C++
- Development Platform: X3/X86
- System Version: Ubuntu 20.0.4
- Compilation Toolchain: Linux GCC 9.3.0/Linaro GCC 9.3.0
Supports compilation on X3 Ubuntu system and cross-compilation using docker on a PC.
-
Compilation Environment Confirmation
- X3 Ubuntu system is installed on the board.
- Current compilation terminal has set the TogetherROS environment variable:
source PATH/setup.bash. Where PATH is the installation path of TogetherROS. - ROS2 compilation tool colcon is installed, installation command:
pip install -U colcon-common-extensions
-
Compilation
Compilation command: colcon build --packages-select hobot_hdmi
-
Compilation Environment Confirmation
- Compilation in docker, and TogetherROS is already installed in docker. Docker installation, cross-compilation instructions, TogetherROS compilation, and deployment instructions can be found in the robot development platform robot_dev_config repo's README.md.
-
Compilation
- Compilation command:
export TARGET_ARCH=aarch64
export TARGET_TRIPLE=aarch64-linux-gnu
export CROSS_COMPILE=/usr/bin/$TARGET_TRIPLE-
colcon build --packages-select hobot_hdmi \
--merge-install \
--cmake-force-configure \
--cmake-args \
--no-warn-unused-cli \
-DCMAKE_TOOLCHAIN_FILE=`pwd`/robot_dev_config/aarch64_toolchainfile.cmake
- hbm_img_msgs package has been compiled.
| Parameter | Meaning | Value | Default |
|---|---|---|---|
| sub_img_topic | Subscribed Image Topic | String | image_raw |
| io_method | Data Transfer Method | String, supports only "ros/shared_mem" | ros |
After successful compilation, copy the generated install path to the Horizon X3 development board (if compiling on X3, ignore the copying step), and run the following command:
To start using ros2 run:
export COLCON_CURRENT_PREFIX=./install
source ./install/setup.bash
# Publish image data
ros2 run mipi_cam mipi_cam --ros-args -p io_method:=shared_mem -p out_format:=nv12
# Specify topic as hbmem_img, receive data published by the publishing end through share mem pub:
ros2 run hobot_hdmi hobot_hdmi --ros-args -p sub_img_topic:=/hbmem_img -p io_method:=shared_mem
To start using launch file:
export COLCON_CURRENT_PREFIX=./install
source ./install/setup.bash
# Launch file for starting
ros2 launch install/share/hobot_hdmi/launch/hobot_hdm.launch.py
export ROS_LOG_DIR=/userdata/
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:./install/lib/
# Publish image data
/userdata/install/lib/mipi_cam/mipi_cam --ros-args -p io_method:=shared_mem
# Specify topic as hbmem_img, receive data published by share mem pub
/userdata/install/lib/hobot_hdmi/hobot_hdmi --ros-args -p sub_img_topic:=hbmem_img -p io_method:=shared_mem
root@ubuntu:/userdata# ros2 run hobot_hdmi hobot_hdm --ros-args -p sub_img_topic:=/hbmem_img -p io_method:=shared_mem
[WARN] [1659415693.142894609] [example]: This is image_display example!
[WARN] [1659415693.210313621] [hobot_hdmi]: Create topic: /hbmem_img,io=shared_mem.
[WARN] [1659415693.212576172] [hobot_hdmi]: Create hbmem_subscription with topic_name: /hbmem_img, sub = 0x7fce131570
[WARN] [1659415693.212699293] [example]: image_display init!
[WARN] [1659415693.213532391] [example]: image_display add_node!
[INFO] [1659415693.243422334] [hobot_hdm]: stLayer width:1920
[INFO] [1659415693.243543913] [hobot_hdm]: stLayer height:1080
[INFO] [1659415693.243706825] [hobot_hdm]: HB_VOT_SetChnCrop: 0
The log above shows that the HDMI output resolution is 1920*1080