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.
| 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) |
~/thermal_image:sensor_msgs/Image
~/performFCC: No arguments
~/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)
roslaunch flir_lepton captureAndView.launch