The `husarion-camera`` snap contains all the necessary software to bring the v4l2 camera ROS2 node up and running.
Parameters
The snap provides the following configurable parameters (param name: default value):
driver: {...}ros: {...}usb: {...}The ros contains the following keys:
ros.domain-id: 0 - Sets the ROS_DOMAIN_ID environment variable for the ROS driver.ros.localhost-only: 0 - Sets the ROS_LOCALHOST_ONLY environment variable for the ROS driver.ros.transport: udp - Configures DDS transport. Options are udp, shm, builtin (or rmw_fastrtps_cpp), rmw_cyclonedds_cpp. Corresponding DDS XML files can be found in the /var/snap/husarion-depthai/common directory (custom FastDDS setups can also be created here).ros.namespace: (unset) - Namespace for all topics and transforms.The driver contains the following keys:
default - Sets the camera parameters based on /var/snap/husarion-camera/common/camera-params-<VALUE>.yamlv4l2camera - Prefix to the camera node name and all topics.default - Sets the FFMPEG parameters based on /var/snap/husarion-camera/common/ffmpeg-params-<VALUE>.yaml/dev/video0 - Select the video device to use or set auto to automatically select the video device based on usb.id-vendor and usb-id-product.The usb contains the following keys:
usb.id-vendor: (unset) - USB camera vendor ID (get if from lsusb).usb.id-product: (unset) - USB camera product ID.To set the parameters, use the snap set command, e.g.,
snap set husarion-camera driver.device-namespace=front-camera
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snapd can be installed from Manjaro’s Add/Remove Software application (Pamac), found in the launch menu. From the application, search for snapd, select the result, and click Apply.
Alternatively, snapd can be installed from the command line:
sudo pacman -S snapd
Once installed, the systemd unit that manages the main snap communication socket needs to be enabled:
sudo systemctl enable --now snapd.socket
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To install husarion-camera, simply use the following command:
sudo snap install husarion-camera
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