/flir_lepton

Primary LanguageC

Flir Lepton ROS package

This package capture images from the Flir Lepton Camera and publish them in a ROS topic. Tested on ROS melodic in a Raspberry pi 3 and the NVIDIA Jetson Nano.

Pin Mapping

Camera Pin Raspberry Pi Pin Nvidia Jetson Nano Pin
CS GPIO24 (28) GPIO_PZ0 (31)
MOSI GPIO10, SPI_MOSI (19) SPI_1_MOSI (19)
MISO GPIO09, SPI_MISO (21) SPI_1_MISO (21)
CLK GPIO11, SPI_CLK (23) SPI_1_SCK (23)
GND Ground (4) GND (9)
VIN 3.3v DC Power (1) 3.3 VDC Power (1)
SDA SDA1, GPIO02 (3) I2C_2_SDA, I2C Bus 1 (3)
SCL SCL1, GPIO03 (5) I2C_2_SCL, I2C Bus 1 (5)

flir_lepton_node

Publish

  • ~/thermal_image: sensor_msgs/Image

Services

  • ~/performFCC: No arguments

Parameters

  • ~/typeColormap: int, default: 3, (RAINBOW = 1, GRAYSCALE = 2, IRONBLACK = 3)
  • ~/typeLepton: int, default: 2, (Lepton 2.x = 2, Lepton 3.x = 3)
  • ~/spiSpeed: int [Mhz], default: 20, (10 - 30)
  • ~/rangeMin: int, default: automatic scaling range adjustment, (0 - 65535)
  • ~/rangeMax: int, default: automatic scaling range adjustment, (0 - 65535)
  • ~/autoScale: int, default: 1 (yes = 1 or no = 0)
  • ~/loglevel: int, default: 0 (0 - 255)

Execution

roslaunch flir_lepton captureAndView.launch