feat(camera): add configurable Jetson camera module for LMS visualization

2026-09-23 13:52:13 +09:00
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+# NAV2-Camera (Jetson)
+
+Jetson ARM64 USB/V4L2 camera module for the LMS visualization camera panel.
+The template folder remains `[lms-nav2-camera-test]nav2-camera-test_v1.0.0_ws`.
+
+## Runtime
+
+- Image: `future-nav2-camera-test:humble-jetson_orin`
+- Package: `camera_test_pkg`
+- Launch: `camera.launch.py`
+- Viewer topic: `/camera_test/image_jpeg` (`sensor_msgs/msg/CompressedImage`, sensor-data QoS)
+- Only the selected `/dev/videoN` device is passed into the container.
+- No vehicle commands, fabricated calibration, or fixed camera mounting TF are published.
+
+## Parameters
+
+| Parameter | Default | Meaning |
+| --- | --- | --- |
+| `video_device` | `/dev/video0` | V4L2 camera device |
+| `width` / `height` | `640` / `480` | Capture resolution supported by the camera |
+| `fps` | `30` | Capture frame rate |
+| `publish_fps` | `10` | Maximum publication rate |
+| `pixel_format` | `auto` | `auto`, `MJPEG`, `UYVY`, or `YUY2` |
+| `jpeg_width` | `640` | Maximum preview width |
+| `jpeg_topic` | `/camera_test/image_jpeg` | Keep the default for the LMS viewer |
+| `frame_id` | `camera_test_link` | Image frame identifier |
+| `publish_raw` | `false` | Also publish `/camera_test/image_raw` |
+
+`auto` negotiates raw/JPEG encoding, not resolution or frame rate. Use a mode
+reported by `v4l2-ctl --device /dev/video0 --list-formats-ext` when defaults are unsupported.
+This module provides a video preview, not calibrated visual SLAM input.
+
+## LMS Installation
+
+The environment profile supplies the runtime image artifact; the module supplies
+the ARM64 build/install artifact. Installing these avoids an initial source build.
+The LMS app needs camera-test module routing support before running this template.
+ROS domain and DDS settings are supplied by the LMS workspace runtime.
+
+## Manual Development
+
+Provision the image from its published artifact first. For image maintainers only:
+
+```sh
+docker build -t future-nav2-camera-test:humble-jetson_orin docker
+```
+
+```sh
+./build.sh
+ROS_DOMAIN_ID=77 ./run.sh video_device:=/dev/video0 pixel_format:=auto
+```
+
+The standalone script defaults to domain 77, host networking, and
+`ROS_LOCALHOST_ONLY=0`. LMS execution uses workspace configuration instead.
+Tests in `tests/test_camera.py` use synthetic video and never access a camera.