Issue while building raspicam_node package on ros noetic in rpi with 64 bit raspbian OS

[SaailN]

I tried building the package from source with ros noetic in rpi4 with 64 bit, downloaded all dependencies and libraries but while building catkin_make it builds completely but giving following error at the end:
/usr/bin/ld: /opt/vc/lib/libmmal.so: error adding symbols: file in wrong format
Also libmmal library is installed.

Also while running launch file i am getting the following error:
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 executable (chmod +x)

[anfederman]

instructions attached to build mmal library

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On Fri, Aug 26, 2022 at 1:17 PM SaailN ***@***.***> wrote: I tried building the package from source on ros noetic in rpi4 with 64 bit, downloaded all dependencies and libraries but while building catkin_make it builds completely but given following error at the end: /usr/bin/ld: /opt/vc/lib/libmmal.so: error adding symbols: file in wrong format Also libmmal library is installed. [image: error] <https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png> Also while running launch file i am getting the following error: 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 executable (chmod +x) — Reply to this email directly, view it on GitHub <#130>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[SaailN]

instructions attached to build mmal library
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On Fri, Aug 26, 2022 at 1:17 PM SaailN @.> wrote: I tried building the package from source on ros noetic in rpi4 with 64 bit, downloaded all dependencies and libraries but while building catkin_make it builds completely but given following error at the end: /usr/bin/ld: /opt/vc/lib/libmmal.so: error adding symbols: file in wrong format Also libmmal library is installed. [image: error] https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png Also while running launch file i am getting the following error: 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 executable (chmod +x) — Reply to this email directly, view it on GitHub <#130>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA . You are receiving this because you are subscribed to this thread.Message ID: @.>

@anfederman Could u tell where are the instructions?
libmmal library is already installed and its executable is present in /opt/vc/lib.
As per my findings( ref: raspberrypi/firmware#1558 (comment)) libmmal is not supported on rpi 64 bit, and libcamera is the supported solution.

[anfederman]

If everything was built, then you should be able to run raspistill. If not, Raspicam won't work. Make sure that the vclib that gets built in snap gats copied to /opt. I have Raspicam working on a pi4 in both ARM32 and ARM64 Ubuntu 20.04 Noetic. It took me many months to get it to work on 64. Please be aware that Raspicam node will be deprecated and won't work on Ubuntu 22.

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On Fri, Aug 26, 2022, 10:34 PM SaailN ***@***.***> wrote: instructions attached to build mmal library … <#m_872756034751677723_> On Fri, Aug 26, 2022 at 1:17 PM SaailN *@*.*> wrote: I tried building the package from source on ros noetic in rpi4 with 64 bit, downloaded all dependencies and libraries but while building catkin_make it builds completely but given following error at the end: /usr/bin/ld: /opt/vc/lib/libmmal.so: error adding symbols: file in wrong format Also libmmal library is installed. [image: error] https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png <https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png> Also while running launch file i am getting the following error: 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 executable (chmod +x) — Reply to this email directly, view it on GitHub <#130 <#130>>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA <https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA> . You are receiving this because you are subscribed to this thread.Message ID: @.*> @anfederman <https://github.com/anfederman> Could u tell where are the instructions? libmmal library is already installed and its executable is present in /opt/vc/lib. As per my findings( ref: raspberrypi/firmware#1558 (comment) <raspberrypi/firmware#1558 (comment)>) libmmal is not supported on rpi 64 bit, and libcamera is the supported solution. — Reply to this email directly, view it on GitHub <#130 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABHZ3752RPGSQ7SC6M6GHELV3GSF5ANCNFSM57X4M5YA> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[anfederman]

The instructions were attached as a odt document. Odt uses the libre office which emulates Ms office for Linux.

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On Sat, Aug 27, 2022, 5:03 AM Alan Federman ***@***.***> wrote: If everything was built, then you should be able to run raspistill. If not, Raspicam won't work. Make sure that the vclib that gets built in snap gats copied to /opt. I have Raspicam working on a pi4 in both ARM32 and ARM64 Ubuntu 20.04 Noetic. It took me many months to get it to work on 64. Please be aware that Raspicam node will be deprecated and won't work on Ubuntu 22. On Fri, Aug 26, 2022, 10:34 PM SaailN ***@***.***> wrote: > instructions attached to build mmal library > … <#m_3838754548883190854_m_-258011054851788142_m_872756034751677723_> > On Fri, Aug 26, 2022 at 1:17 PM SaailN *@*.*> wrote: I tried building > the package from source on ros noetic in rpi4 with 64 bit, downloaded all > dependencies and libraries but while building catkin_make it builds > completely but given following error at the end: /usr/bin/ld: > /opt/vc/lib/libmmal.so: error adding symbols: file in wrong format Also > libmmal library is installed. [image: error] > https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png > <https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png> > Also while running launch file i am getting the following error: 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 executable (chmod +x) — > Reply to this email directly, view it on GitHub <#130 > <#130>>, or > unsubscribe > https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA > <https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA> > . You are receiving this because you are subscribed to this thread.Message > ID: @.*> > > @anfederman <https://github.com/anfederman> Could u tell where are the > instructions? > libmmal library is already installed and its executable is present in > /opt/vc/lib. > As per my findings( ref: raspberrypi/firmware#1558 (comment) > <raspberrypi/firmware#1558 (comment)>) > libmmal is not supported on rpi 64 bit, and libcamera is the supported > solution. > > — > Reply to this email directly, view it on GitHub > <#130 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/ABHZ3752RPGSQ7SC6M6GHELV3GSF5ANCNFSM57X4M5YA> > . > You are receiving this because you were mentioned.Message ID: > ***@***.***> >

[SaailN]

If everything was built, then you should be able to run raspistill. If not, Raspicam won't work. Make sure that the vclib that gets built in snap gats copied to /opt. I have Raspicam working on a pi4 in both ARM32 and ARM64 Ubuntu 20.04 Noetic. It took me many months to get it to work on 64. Please be aware that Raspicam node will be deprecated and won't work on Ubuntu 22.
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On Fri, Aug 26, 2022, 10:34 PM SaailN @.> wrote: instructions attached to build mmal library … <#m_872756034751677723_> On Fri, Aug 26, 2022 at 1:17 PM SaailN @.> wrote: I tried building the package from source on ros noetic in rpi4 with 64 bit, downloaded all dependencies and libraries but while building catkin_make it builds completely but given following error at the end: /usr/bin/ld: /opt/vc/lib/libmmal.so: error adding symbols: file in wrong format Also libmmal library is installed. [image: error] https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png Also while running launch file i am getting the following error: 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 executable (chmod +x) — Reply to this email directly, view it on GitHub <#130 <#130>>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA . You are receiving this because you are subscribed to this thread.Message ID: @.> @anfederman https://github.com/anfederman Could u tell where are the instructions? libmmal library is already installed and its executable is present in /opt/vc/lib. As per my findings( ref: raspberrypi/firmware#1558 (comment) <raspberrypi/firmware#1558 (comment)>) libmmal is not supported on rpi 64 bit, and libcamera is the supported solution. — Reply to this email directly, view it on GitHub <#130 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ3752RPGSQ7SC6M6GHELV3GSF5ANCNFSM57X4M5YA . You are receiving this because you were mentioned.Message ID: @.**>

I am using raspbian os 64 bit. raspistill is not working with 64bit version. (ref: https://forums.raspberrypi.com/viewtopic.php?t=285868). Also rpi cam v2 is working fine with libcamera-hello command and picamera2 python module.

[anfederman]

I built on started with Ubuntu ARM64 server, not Raspian. I will translate my instructions to text and send the build from scratch instructions.

[anfederman]

I am sending notes as an attachment in .txt format. You should be able to copy/paste commands to build the Image.

On Sat, Aug 27, 2022 at 7:06 AM SaailN ***@***.***> wrote: If everything was built, then you should be able to run raspistill. If not, Raspicam won't work. Make sure that the vclib that gets built in snap gats copied to /opt. I have Raspicam working on a pi4 in both ARM32 and ARM64 Ubuntu 20.04 Noetic. It took me many months to get it to work on 64. Please be aware that Raspicam node will be deprecated and won't work on Ubuntu 22. … <#m_-8421960415005441869_> On Fri, Aug 26, 2022, 10:34 PM SaailN *@*.*> wrote: instructions attached to build mmal library … <#m_872756034751677723_> On Fri, Aug 26, 2022 at 1:17 PM SaailN @.> wrote: I tried building the package from source on ros noetic in rpi4 with 64 bit, downloaded all dependencies and libraries but while building catkin_make it builds completely but given following error at the end: /usr/bin/ld: /opt/vc/lib/libmmal.so: error adding symbols: file in wrong format Also libmmal library is installed. [image: error] https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png <https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png> https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png <https://user-images.githubusercontent.com/40292489/186983895-9ddd768f-bb85-40d2-b320-c7c1da95ad8f.png> Also while running launch file i am getting the following error: 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 executable (chmod +x) — Reply to this email directly, view it on GitHub <#130 <#130> <#130 <#130>>>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA <https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA> https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA <https://github.com/notifications/unsubscribe-auth/ABHZ37376AR6VEHZI4KKS6DV3EQ6DANCNFSM57X4M5YA> . You are receiving this because you are subscribed to this thread.Message ID: @.> @anfederman <https://github.com/anfederman> https://github.com/anfederman <https://github.com/anfederman> Could u tell where are the instructions? libmmal library is already installed and its executable is present in /opt/vc/lib. As per my findings( ref: raspberrypi/firmware#1558 <raspberrypi/firmware#1558> (comment) <raspberrypi/firmware#1558 (comment) <raspberrypi/firmware#1558 (comment)>>) libmmal is not supported on rpi 64 bit, and libcamera is the supported solution. — Reply to this email directly, view it on GitHub <#130 (comment) <#130 (comment)>>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABHZ3752RPGSQ7SC6M6GHELV3GSF5ANCNFSM57X4M5YA <https://github.com/notifications/unsubscribe-auth/ABHZ3752RPGSQ7SC6M6GHELV3GSF5ANCNFSM57X4M5YA> . You are receiving this because you were mentioned.Message ID: @.***> I am using raspbian os 64 bit. raspistill wont work with 64bit version. (ref: https://forums.raspberrypi.com/viewtopic.php?t=285868) — Reply to this email directly, view it on GitHub <#130 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ABHZ377PSAQWZJGBP6N6WDDV3IOHJANCNFSM57X4M5YA> . You are receiving this because you were mentioned.Message ID: ***@***.***>

starting from ubuntu 20.04 SERVER image sd card! FIRST STEPS> First login with a screen and keyboard mouse, forces a password change from ubuntu! https://itsfoss.com/connect-wifi-terminal-ubuntu/ install wifi install net-tools update upgrade install ssh sudo apt install openssh-server connect from remote apt install: tasksel Next if you want to connect to a robot you need to fix the boot delay, so the server doesn't hang from serial input. disable serial console on login (see u-boot) I haven't been able to do this on a Pi4, but if you remove the SD card from the Pi 4, boot in Pi 3, get to u-boot and setenv bootdelay -2 and then get back to a Pi 4 serial console boot will be disabled. ros instructions: http://wiki.ros.org/noetic/Installation/Ubuntu If you don't need a desktop, you can skip installing, if you need a desktop you can start with a GUI arm64 image or: sudo apt install gnome-session gdm3 I suggest a desktop-full install, which of course means you need a desktop. Optional, may be un-needed depending on robot and periheral hardware being interfaced: sudo systemctl stop ***@***.*** sudo systemctl mask ***@***.*** OK here is the big Kuhuna - getting the raspicam to work. FIRST take some deep breaths, and put your mind at ease, this is tedious and frustrating and not for the faint of heart. SO TAKE A CLENSING BREATH, COUNT TO 10 AND BEGIN.

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_______________________________________________________________________ Build ARM64 Rpi Userland, Follow instructions, this will build the libmmal libraries and allow you to run raspstill: 1. Userland https://gist.github.com/satmandu/c462ab301cbe09bd6e7cf4db7f626727 This is a script you download and run as sudo:

------------script starts after --------- #!/bin/bash -x workdir="${HOME}/workdir" [[ ! -d "$workdir" ]] && ( mkdir -p "$workdir" || exit 1) [[ ! -d "$workdir"/tmp ]] && ( mkdir -p "$workdir"/tmp || exit 1) [[ ! -d "$workdir"/output ]] && ( mkdir -p "$workdir"/output || exit 1) echo "workdir is ${workdir}" tmpdir=$(mktemp -d deb_XXXX -p "$workdir"/tmp) deb_temp=${tmpdir}/deb extract_tmp=${tmpdir}/extract echo "tmpdir is ${tmpdir}" rm -rf "${workdir}"/rpiuserland.compile.log sudo apt install -y git patchelf is_git_repo="$( cd "${workdir}"/rpi-userland || exit git rev-parse --is-inside-work-tree 2>/dev/null )" if [ "$is_git_repo" ]; then cd "$workdir"/rpi-userland && git clean -d -x -f else rm -rf "${workdir}"/rpi-userland cd "$workdir" && git clone --depth 1 https://github.com/raspberrypi/userland rpi-userland fi USERLANDREV=$(git -C "${workdir}"/rpi-userland rev-parse --short HEAD) >/dev/null mkdir -p "${workdir}"/scripts ( cd "${workdir}"/scripts && curl -OL https://github.com/satmandu/docker-rpi4-imagebuilder/raw/master/scripts/patch_rpi-userland.sh chmod +x patch_rpi-userland.sh ) echo "* Compiling Raspberry Pi userland source." cd "${workdir}"/rpi-userland/ || exit [[ -e "${workdir}"/scripts/patch_rpi-userland.sh ]] && { cd "${workdir}"/rpi-userland/ && "${workdir}"/scripts/patch_rpi-userland.sh true } sed -i 's/__bitwise/FDT_BITWISE/' "${workdir}"/rpi-userland/opensrc/helpers/libfdt/libfdt_env.h sed -i 's/__force/FDT_FORCE/' "${workdir}"/rpi-userland/opensrc/helpers/libfdt/libfdt_env.h echo "compiling rpi userland" PKGVERSION="$(date +%d%m%Y):${USERLANDREV}" cat <<-EOF | tee -a "${workdir}"/rpi-userland/CMakeLists.txt SET(CPACK_GENERATOR "DEB") SET(CPACK_PACKAGE_NAME "rpiuserland") SET(CPACK_SET_DESTDIR TRUE) SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "noone") SET(CPACK_PACKAGE_VERSION_MAJOR "$PKGVERSION") SET(CPACK_PACKAGE_VERSION_MINOR "0") SET(CPACK_PACKAGE_VERSION_PATCH "1~alpha1") SET(CPACK_DEBIAN_PACKAGE_DEPENDS "libgcc1-armhf-cross,libstdc++6-armhf-cross,libc6-armhf-cross") include(CPack) EOF CROSS_COMPILE=aarch64-linux-gnu- ./buildme --aarch64 &>>"${workdir}"/rpi_userland_build.compile.log echo "configuring package" cd "${workdir}"/rpi-userland/build/raspberry/release/ || exit make package sudo rm -rf "${deb_temp}" mkdir -p "${deb_temp}" sudo rm -rf "${extract_tmp}" mkdir -p "${extract_tmp}" dpkg-deb -R "$workdir"/rpi-userland/build/raspberry/release/vmcs_host_apps-1.0-Source.deb "${extract_tmp}"/ cd "${workdir}"/rpi-userland/build/raspberry/release/ && sudo make DESTDIR="${deb_temp}"/ install sed -i "s/1.0/$PKGVERSION/" "${extract_tmp}"/DEBIAN/control mv "${extract_tmp}"/DEBIAN "${deb_temp}"/ rm -rf "${extract_tmp}" mkdir -p "${deb_temp}"/etc/ld.so.conf.d/ echo '/opt/vc/lib' >"${deb_temp}"/etc/ld.so.conf.d/vc.conf mkdir -p "${deb_temp}"/etc/environment.d cat <<-EOF >"${deb_temp}"/etc/environment.d/10-vcgencmd.conf # /etc/environment.d/10-vcgencmd.conf # Do not edit this file PATH="/opt/vc/bin:/opt/vc/sbin" ROOTPATH="/opt/vc/bin:/opt/vc/sbin" LDPATH="/opt/vc/lib" EOF chmod +x "${deb_temp}"/etc/environment.d/10-vcgencmd.conf mkdir -p "${deb_temp}"/etc/profile.d/ cat <<-'EOF' >"${deb_temp}"/etc/profile.d/98-rpi.sh # /etc/profile.d/98-rpi.sh # Adds Raspberry Pi Foundation userland binaries to path export PATH="$PATH:/opt/vc/bin:/opt/vc/sbin" EOF chmod +x "${deb_temp}"/etc/profile.d/98-rpi.sh cat <<-EOF >"${deb_temp}"/etc/ld.so.conf.d/00-vmcs.conf /opt/vc/lib EOF SUDOPATH=$(sudo sed -n 's/\(^.*secure_path="\)//p' /etc/sudoers | sed s'/.$//') SUDOPATH="${SUDOPATH:-/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/snap/bin}" SUDOPATH+=":/opt/vc/bin:/opt/vc/sbin" # Add path to sudo mkdir -p "${deb_temp}"/etc/sudoers.d echo "* Adding rpi util path to sudo." cat <<-EOF >>"${deb_temp}"/etc/sudoers.d/rpi Defaults secure_path=$SUDOPATH EOF chmod 0440 "${deb_temp}"/etc/sudoers.d/rpi sudo chown root:root "${deb_temp}"/etc/sudoers.d/rpi # Get non-arm64 vcdbg and patch for use on armhf mkdir -p "${deb_temp}"/usr/arm-linux-gnueabihf/lib cd "${deb_temp}"/usr/arm-linux-gnueabihf/lib || exit curl -OL https://github.com/Hexxeh/rpi-firmware/raw/master/vc/hardfp/opt/vc/lib/libdebug_sym.so curl -OL https://github.com/Hexxeh/rpi-firmware/raw/master/vc/hardfp/opt/vc/lib/libelftoolchain.so curl -OL https://github.com/Hexxeh/rpi-firmware/raw/master/vc/hardfp/opt/vc/lib/libvcos.so cd "${deb_temp}"/opt/vc/bin/ || exit sudo curl -OL https://github.com/Hexxeh/rpi-firmware/raw/master/vc/hardfp/opt/vc/bin/vcdbg sudo chmod +x "${deb_temp}"/opt/vc/bin/vcdbg sudo cp "${deb_temp}"/opt/vc/bin/vcdbg "${deb_temp}"/opt/vc/bin/vcdbg.orig sudo patchelf --force-rpath --set-rpath "/usr/arm-linux-gnueabihf/lib" "${deb_temp}"/opt/vc/bin/vcdbg sudo patchelf --set-interpreter /usr/arm-linux-gnueabihf/lib/ld-linux-armhf.so.3 "${deb_temp}"/opt/vc/bin/vcdbg cd "${workdir}"/rpi-userland/build/raspberry/release/ || exit sudo dpkg-deb --root-owner-group -b "${deb_temp}" "${workdir}"/output/ &>>"${workdir}"/rpi_userland_build.compile.log sudo rm -rf "${workdir}"/rpi-userland/build/ sudo rm -rf "${tmpdir}" echo "Package is at ${workdir}/output/rpiuserland_${USERLANDREV}_arm64.deb ." #------end-------script 2. get vc library into /opt you need to execute these commands one by one: you need to build mmal package: cd ~/catkin_ws/src git clone https://github.com/6by9/userland.git cd userland git checkout 64bit_mmal ./buildme --aarch64 sudo cp -a ~/catkin_ws/src/userland/build/lib/. /opt/vc/lib/ sudo cp -r /opt/vc/. /usr Now, You can use the following command to test: raspistill -o test.jpg 3. catkin make raspicam_node test with roslaunch You now should have a full ros image, but you won't have the raspicam drivers.