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No camera topics

asked 2021-11-25 08:48:22 -0500

Roshan gravatar image

updated 2021-11-25 09:28:44 -0500

Mike Scheutzow gravatar image

Hello, I have been trying to set up a physical turtlebot3 following this: I've done all the setup, and doen up until 4.SLAM. I noticed that they have a camera there even though it's not being used in SLAM. When I try running the turtlebot3 bringup launch I get no camera topic. When I try launching the turtlebot3_rpicamera node I get errors. Using TB3 Waffle Pi with a Raspberry Pi 3B+ and RPi camera.

The error is: ERROR: cannot launch node of type [raspicam_node/raspicam_node]: cannot locate node of type [raspicam_node] in package [raspicam_node]. Make sure file exists in package path and permission is set to excecutable (chmod +x)

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Hi @Roshan can you pls post the errors

osilva gravatar image osilva  ( 2021-11-25 09:00:30 -0500 )edit

Edited in error

Roshan gravatar image Roshan  ( 2021-11-25 09:13:00 -0500 )edit

@Roshan A similar question #q391526 was asked less than 48 hours ago. You might want to follow it.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-11-25 09:32:00 -0500 )edit

1 Answer

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answered 2021-12-06 22:34:53 -0500

Muhammad Umar gravatar image

updated 2021-12-08 19:25:55 -0500

Hello, I am new to ROS and Ubuntu and recently I was also struggling to make the camera work for turtlebot3 waffle_pi. For me, I followed this route and now the camera is working fine in SLAM, the topics are available and rqt_image_view also shows the live feed from the camera.

I am using Ubuntu 20.04 with ROS-noetic with a Turtlebot3 waffle_pi robot hosting a Raspberry Pi 4 2GB SBC.

The issue here is that the raspicam_node for noetic is difficult to set up as most methods require deleting the previous catkin_ws and building a new one. However, I followed the last method in this link text. I will sum it up for you:

First of all, make sure the camera is working using the raspistill command and the peripherals for the camera are enabled in raspi-config.

Test it as:

raspistill -v -o test.jpg

Clone the package from github in your catkin_ws/src folder:

 cd catkin_ws/src

git clone

Install the libraries:

sudo apt install libraspberrypi-dev libraspberrypi0 libpigpiod-if-dev

Install some packages:

sudo apt install ros-noetic-compressed-image-transport ros-noetic-camera-info-manager ros-noetic-diagnostic-updater

Afterward, compile the catkin_ws and source:

cd ..


source devel/setup.bash

The next thing is running two launch files at the same time to visualize the camera input in SLAM.

First, run a roscore on the remote-PC:


Open a secure shell with a robot and launch raspicam_node:

roslaunch raspicam_node camerav2_1280x960.launch

Open another secure shell and bring up the robot:

roslaunch turtlebot3_bringup turtlebot3_robot.launch

Now in the remote PC:

roslaunch turtlebot3_slam turtlebot3_slam.launch

In the new terminal window:


The image from the camera would be visible in both Rviz (where SLAM is running) and the rqt_image_view window. Also, if you do 'rostopic list' in remote-PC, you would be able to see the camera-related topic published by raspicam_node.

This method worked for me. I apologize for any typos or inconvenience.

Thank you,

Muhammad Umar Farooq

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Hi Muhammad nice complete answer. If you could format using 10101 for the code portions it will help with readability

osilva gravatar image osilva  ( 2021-12-08 19:16:02 -0500 )edit

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Asked: 2021-11-25 08:48:22 -0500

Seen: 1,410 times

Last updated: Dec 08 '21