Update for Jetpack 6

[franzrammerstorfer]

Hello all,
I want to use this package for a Jetson Orin with Ubuntu 22.04, Jetpack 6 and Ros2 humble.
Any updates planned, and/or what is the roadmap for this project?
BR Franz

[manato]

@franzrammerstorfer
Hi Franz!
While the default branch name is galactic, we've confirmed the code also works on ROS2 Humble because the code does not use galactic-specific functionality.
FYI: This project assumes some specific ECU as a working environment since the GPIO pin number differs depending on ECUs. We've confirmed on RQX-58G from ADLINK Inc. and Anill from ConnectTech Inc. If you would like to use this project on another platform, you may need to explore pin assign for your environment.

Thanks!

[franzrammerstorfer]

Hello,
thanks for your response. I think the problem is not galactic vs humble, but the different management of the gpio devices. For example, in jetpack 5 we use "sys/class/gpio" whereas in jetpack 6 we use "/dev/gpiochip0". Hence, the sensor_trigger software needs to be adapted.

BR Franz

[manato]

@franzrammerstorfer
Hello,
Thank you for pointing that out. Regarding GPIO handling, we are working on the refactor/simplify-libgpiod-implementation branch to switch from sysfs to character device. So you may be interested in the branch if you would like to control GPIO via character devices, such as /dev/gpiochip0.

Best