name: rdk-x5-camera description: "配置并启动 RDK X5 上的 MIPI CSI 摄像头、USB 摄像头或双目深度摄像头（RealSense/ZED/Orbbec），通过 Web 浏览器预览实时画面。Use when the user wants to start a camera, preview video, capture images, or troubleshoot camera connection issues on RDK X5. Do NOT use for AI inference on camera feeds (use rdk-x5-ai-detect), audio/video encoding (use rdk-x5-media), or GPIO hardware (use rdk-x5-gpio)." license: MIT-0 metadata: openclaw: requires: bins: - ros2 compatibility: platform: rdk-x5

RDK X5 Camera — 摄像头配置与图像采集

已适配摄像头

操作步骤

1. 启动 MIPI 摄像头

⚠️ 严禁带电插拔 MIPI 摄像头，否则烧坏模组。先断电再接线。

source /opt/tros/humble/setup.bash

# 单路 MIPI
ros2 launch mipi_cam mipi_cam.launch.py

# 双路 MIPI（需两个 CSI 接口都接上）
ros2 launch mipi_cam mipi_cam_dual_channel.launch.py

# 第二路需要 remap topic
ros2 run mipi_cam mipi_cam --ros-args --remap /image_raw:=/image_raw_alias

2. 启动 USB 摄像头

source /opt/tros/humble/setup.bash

# Step 1: 确认设备节点
ls /dev/video*
v4l2-ctl --list-devices

# Step 2: MJPEG 模式（推荐，低 CPU 占用）
ros2 launch hobot_usb_cam hobot_usb_cam.launch.py \
  usb_video_device:=/dev/video0

# Step 2 备选: YUYV→RGB 模式（兼容性更广）
ros2 launch hobot_usb_cam hobot_usb_cam.launch.py \
  usb_video_device:=/dev/video0 \
  usb_pixel_format:=yuyv2rgb \
  usb_image_width:=640 usb_image_height:=480

3. 启动双目深度摄像头

RealSense:

sudo apt-get install ros-humble-librealsense2* ros-humble-realsense2-* -y
ros2 launch realsense2_camera rs_launch.py \
  enable_rgbd:=true enable_sync:=true \
  align_depth.enable:=true enable_color:=true enable_depth:=true

ZED:

source /opt/tros/humble/setup.bash
ros2 launch hobot_zed_cam pub_stereo_imgs.launch.py need_rectify:=true

4. Web 浏览器预览

source /opt/tros/humble/setup.bash

# 编码 + WebSocket
ros2 launch hobot_codec hobot_codec_encode.launch.py &
ros2 launch websocket websocket.launch.py \
  websocket_image_topic:=/image_jpeg \
  websocket_only_show_image:=true

浏览器访问 http://<RDK_IP>:8000 查看画面。

5. ISP 图像调参

cd /app/multimedia_samples/tuning_tool
make && sudo ./run_tuning.sh

用于调整白平衡、曝光、降噪等 ISP 参数（C 源码需先编译）。

6. 停止所有摄像头服务

pkill -f "ros2.*cam" ; pkill -f "ros2.*websocket" ; pkill -f "ros2.*codec"

排查故障