An example of how to use camera_ros with Raspberry Pi Cameras modules inside an arm64v8/ros:jazzy docker container, running on top of Raspbian OS 64bit Lite (Bookworm).
The example builds and installs raspberrypi's fork of libcamera for support of Raspberry Pi camera modules.
- Raspberry Pi 5 (4BG Model tested)
- Rasbian OS 64Bit Lite (Bookworm)
- Docker
- Raspberry Pi Cam rev1.3 (OV5647)
- Raspberry Pi NoIR Cam (OV5647)
- Raspberry Pi Camera 3 (IMX708) - thanks to @dbaldwin for reporting
Note: In my testing I did not need to change any parameters in /boot/firmware/config.txt on the host OS.
Clone this repo and make sure docker-run.sh is executable.
git clone git@github.com:se1exin/camera_ros-in-docker-rpi5.git
cd camera_ros-in-docker-rpi5
chmod +x docker-run.sh
From the command line on your raspberry pi, run the following to build the container with the tag camera_ros:
docker build -t camera_ros .
Note: The docker build process adds the file docker_entrypoint.sh which sources the required ROS2 setup.bash files when the container starts.
From the command line, run the following to start the docker container and the camera_ros node:
./docker-run.sh
The last line of docker-run.sh is the command sent to the docker container when it starts. Modify this to - for example - change any ros params when starting the node.
You can view the camera stream on another computer using ros2 run rqt_image_view rqt_image_view.
Note you may need to add your other IP address as ROS_STATIC_PEERS to the docker container to assist ROS2 network communication. E.g. add -e ROS_STATIC_PEERS=some.internal.ip.address to the docker-run.sh script.