Problems with Raspberry Ai Camera and clover 0.26v

[msantos7gabriel]

We're a small drone team in interior in Brazil located in guanambi Bahia and we are having some ishues to connect raspberry AI camera with clover, after installing the imx500-all (camera firmware) and rebooting the rasp 5 the video appers on /dev/video0/ but don't appers on ros topic main_camera/image_raw, so i wonder if someone else had or having the same problem that we're having.

[okalachev]

Hi, the image version 0.26 uses libcamera to access camera, so try libcamera tools to check it.
The image version 0.25 uses v4l2 (/dev/videoX).

[msantos7gabriel]

hi again, so this morning my team and i, tried to use libcamera tools ( rpicam ) mencioned on Raspberry AI Camera, following the setup here, was made the download of the camera driver (imx500-all).

After reboot we executed rpicam-hello on terminal we recive this output:

pi@clover-3960:~ $ rpicam-hello 
[0:02:10.661079458] [4378]  INFO Camera camera_manager.cpp:330 libcamera v0.5.2+99-bfd68f78
[0:02:10.673109606] [4389]  INFO RPI pisp.cpp:720 libpisp version v1.2.1 981977ff21f3 29-04-2025 (14:17:26)
[0:02:10.685165198] [4389]  INFO IPAProxy ipa_proxy.cpp:180 Using tuning file /usr/share/libcamera/ipa/rpi/pisp/imx500.json
[0:02:10.695795439] [4389]  INFO Camera camera_manager.cpp:220 Adding camera '/base/axi/pcie@1000120000/rp1/i2c@80000/imx500@1a' for pipeline handler rpi/pisp
[0:02:10.695930236] [4389]  INFO RPI pisp.cpp:1179 Registered camera /base/axi/pcie@1000120000/rp1/i2c@80000/imx500@1a to CFE device /dev/media1 and ISP device /dev/media0 using PiSP variant BCM2712_C0
Made X/EGL preview window
Made DRM preview window
Preview window unavailable
Mode selection for 2028:1520:12:P
    SRGGB10_CSI2P,2028x1520/0 - Score: 1000
    SRGGB10_CSI2P,4056x3040/0 - Score: 1887
Stream configuration adjusted
[0:02:10.811020106] [4378]  INFO Camera camera.cpp:1215 configuring streams: (0) 2028x1520-YUV420/sYCC (1) 2028x1520-RGGB_PISP_COMP1/RAW
[0:02:10.811126458] [4389]  INFO RPI pisp.cpp:1483 Sensor: /base/axi/pcie@1000120000/rp1/i2c@80000/imx500@1a - Selected sensor format: 2028x1520-SRGGB10_1X10/RAW - Selected CFE format: 2028x1520-PC1R/RAW

the camera is identifed by the libcamera functions but the rostopic in:
http://192.168.0.107:8080/stream_viewer?topic=/main_camera/image_raw
it don't appers as a topic as seen on the print.

i've tried messing with some camera lauch configs but nothing seams to work as i intended.

so i donwloaded the log files one is before even upgrading the system via APT, and the second one is after doing everything said before.