px4 / lepton Goto Github PK

Should I expect this to work with the lepton 3? I'm very interested in publishing heat maps into ros.

Hej,

we are trying to get the FLiR Lepton Camera running with your ROS Package on a Raspberry Pi 3 with Ubuntu MATE but have some trouble until now. We would be so glad if you may help us. We are new to work with a Raspberry and to work with ROS, so please excuse our questions.

Everytime we are running
rosrun lepton_camera leptonvideo
we get the error

can´t send spi message: Invalid argument
Aborted (core dumped)

We think that the reason is the SPI communication.

We changed the code in the function int transfer in lepton.cpp because we read that the reason for the error is that the imx23 supports only half duplex hw spi, so we have to zero either tx or rx buffer then it will work (source).
So we changed the code from
tr.rx_buf = (unsigned long) lepton_frame_packet;
to
tr.rx_buf =0;

The error isn't showing up any more, but the sznchronizing with the video stream doesn't work.

We don't have any other ideas and would be so glad about help.

Thank you
Julia