Isaac ROS Hawk Setup

Leopard Imaging’s Hawk camera is a popular choice of stereo camera for use with the Isaac ROS ecosystem of packages. This document details important setup instructions for configuring the Hawk camera with Isaac ROS.

Note

For best results, you must update the camera’s firmware.

Note

Hawk stereo cameras through Argus are only supported on Jetson platforms

Jetson Platforms

Camera Configuration

The Hawk camera must be connected to your Jetson via a GMSL expansion board. If using Leopard Imaging’s P3762_A03 board you can set up Hawk by installing Nova Init.

For other GMSL boards please contact your vendor for information on how to configure them.

Verifying Hawk Set Up

Hawk can be verified with Argus by building and running argus_syncstereo:

cd /usr/src/jetson_multimedia_api/argus/cmake/
sudo cmake ..
sudo make install
argus_syncstereo

This should run without error.

ROS Driver Setup

Clone the isaac_ros_argus_camera repositories that contains the Hawk camera ROS driver:

cd ${ISAAC_ROS_WS}/src && \
git clone -b release-3.2 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_argus_camera.git isaac_ros_argus_camera