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.

  • 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.

  1. If you are using Leopard Imaging’s P3762_A03 board, you can set up Hawk by installing Nova Init.

For other GMSL boards, 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 using the following code:

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

This should run without error.

Isaac ROS Driver Setup#

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

cd ${ISAAC_ROS_WS}/src && \
git clone -b release-3.3 git@github.com:NVIDIA-ISAAC-ROS/validation-isaac_ros_argus_camera.git isaac_ros_argus_camera