> For the complete documentation index, see [llms.txt](https://kairosiann.gitbook.io/r1mini/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://kairosiann.gitbook.io/r1mini/running-r1-mini/camera-melodic.md).

# Camera \[Melodic]

![Camera on R1mini. Image courtesy of Omorobot](/files/-MdX0rWDbELwBBNX0CiD)

## Download package

{% hint style="info" %}
When receiving your R1mini, this package should already be downloaded. To run the camera, move to the next section titled "Run Camera".
{% endhint %}

First make sure you are in the \~/catkin\_ws/src directory. Then, download the cv-bridge by entering the below code to the terminal shell.

```
$ sudo apt install ros-melodic-cv-bridge*
```

Next, run the below code to install the Camera package from Github for the R1mini.

```
$ git clone https://github.com/PinkWink/jetson_camera
```

Next, move to \~/catkin\_ws. Then, build the package on your robot by running the following code. This process may take a minute or two.

```
$ catkin build jetson_camera
```

{% hint style="warning" %}
If you have an error when running the above code, continue reading this section, if not, run source \~/.bashrc in the terminal shell and move on to "Run Camera".
{% endhint %}

If there was an error, enter the below command in the terminal shell.

```
$ sudo nano /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake
```

![](/files/-Me7LnzPp_UlVcF54Ozp)

Then, scroll down to line 94 and replace the line that reads set (\_include\_dirs "include;/usr/include;/usr/include/opencv") to the below line.

```
_include_dirs "include;/usr/include;/usr/local/include/opencv"
```

Next, run the below line.

```
$ source ~/.bashrc
```

## Run Camera

To run the camera, run the below line in the command line. You can use autocomplete by pressing "Tab".

```
$ roslaunch jetson_camera jetson_camera.launch
```

To see the view from the camera, run the below line in a new terminal tab to open rqt\_image*\_*view.

```
$ rqt_image_view
```

![Image courtesy of Omorobot.](/files/-Me4-8QiB5Oi4WwJlRuJ)

Running rqt\_image\_view, a pop-up GUI should appear like above and display the view from the jetson camera.


---

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