# Run a zero-copy camera with `qrb_ros_camera`
The `qrb_ros_camera` sample application implements a camera ROS2 node to enable zero-copy performance when data is coming out of the camera-server. This sample greatly reduces the latency between ROS nodes.
Note
The Dragonwing IQ-9075 Evaluation Kit only supports these cameras:
>
>
> - ov9282
> - LI-VENUS-OX03F10-96717-120H camera
> - LI-VENUS-OX03F10-OAX40-GM2A-118H camera
## DIP switch operation for connecting to different cameras on Dragonwing IQ-9075
**DIP switches on Dragonwing IQ-9075 Evaluation Kit**
DIP settings for cameras
| DIP settings | Enabled camera(s) |
| --- | --- |
| Set Pin1, Pin2, Pin3, and Pin4 of SW1 to ON while keeping all other pins DOWN. | **ov9282** |
| Set Pin5, Pin6, Pin7, and Pin8 of SW1 to ON while keeping all other pins DOWN. |
LI‑VENUS‑OX03F10‑96717‑120H
LI‑VENUS‑OX03F10‑OAX40‑GM2A‑118H
|
| Set Pin7 and Pin8 of SW1 to ON while keeping all other pins DOWN. |
LI‑VENUS‑OX03F10‑OAX40‑GM2A‑118H
ov9282 (when connected to MIPI CSI0 or MIPI CSI1)
|
Note
For information about how to connect the camera, see [Connect camera hardware sensor](https://docs.qualcomm.com/doc/80-70023-17A/topic/connect-camera-sensor-hardware.html). This document is available to authorized users only.
## Pipeline flow for `qrb_ros_camera`
The Qualcomm Camera-Server provides camera data that's obtained from the camera sensor. `qrb_ros_camera` uses this camera-server to get the latest camera data.
## ROS nodes used in the `qrb_ros_camera` pipeline
| ROS node | Description |
| --- | --- |
| `CAMERA` | Publishes the `/cam${camera_id}_${stream_name}`, `/cam${camera_id}_camera_info` ROS topics. |
- `camera_id` indicates the camera device ID, with a default value of 0.
- `stream_name` indicates the camera stream names, with a default value of "stream1".
## ROS topics used in the `qrb_ros_camera` pipeline
| ROS topic | Message type | Published/Subscribed by | Description |
| --- | --- | --- | --- |
| `/cam${camera_id}_${stream_name}` | `sensor_msgs::msg::Image` | Published by `camera`. | Publishes the NV12 encoded image. |
| `/cam${camera_id}_camera_info` | `sensor_msgs::msg::CameraInfo` | Published by `camera`. | Publishes the camera information. |
## Prerequisites
You have **Set up the device** according to [Set up the environment for running sample applications](https://docs.qualcomm.com/doc/80-70023-265/topic/quick_start.html#setup-demo-qs).
## Run out-of-the-box `qrb_ros_camera`
**Steps**
1. In terminal 1, run the camera ROS node.
1. Set up the QIR SDK and ROS2 environment on the device.
(ssh) mount -o remount,rw /usr
(ssh) source /usr/share/qirp-setup.sh
(ssh) export ROS_DOMAIN_ID=xx
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Note
Value range of `ROS_DOMAIN_ID`: [0, 232]
2. Run the `qrb_ros_camera` node.
(ssh) ros2 launch qrb_ros_camera qrb_ros_camera_launch.py
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2. In terminal 2, get the camera image data.
1. Set up the QIR SDK and ROS2 environment on the device.
ssh root@[ip-addr]
(ssh) source /usr/share/qirp-setup.sh
(ssh) export ROS_DOMAIN_ID=xx
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2. Verify the ROS topic.
(ssh) ros2 topic echo /cam0_stream1
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## Build and run `qrb_ros_camera`
**Steps**
1. Build `qrb_ros_camera` provided by the QIR SDK on the host.
cd
source setup.sh
cd qirp-samples/platform/qrb_ros_camera
colcon build --merge-install --cmake-args ${CMAKE_ARGS} -DBUILD_TESTING=ON
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2. Push `qrb_ros_camera` to the device.
cd qirp-samples/platform/platform/qrb_ros_camera/install
tar czvf qrb_ros_camera.tar.gz lib share include
scp qrb_ros_camera.tar.gz root@[ip-addr]:/opt/
ssh root@[ip-addr]
(ssh) mount -o remount,rw /usr
(ssh) tar --no-overwrite-dir --no-same-owner -zxf /opt/qrb_ros_camera.tar.gz -C /usr/
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3. Run `qrb_ros_camera` on the device by referring to [Run out-of-the-box qrb\_ros\_camera](https://docs.qualcomm.com/doc/80-70023-265/topic/qrb-ros-camera.html#case1-ros-camera).
## Limitation
The supported format is NV12 in camera ROS node. Currently, dynamic changes to the image size aren't supported.
Last Published: Dec 29, 2025
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