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Linux & ROS2

The MIG Grabber SDK also runs on Linux, and a ROS2 package is provided so that the grabber can publish captured frames directly into a ROS2 graph.

Ubuntu 22.04 LTS

The MIG Grabber SDK operates on Ubuntu 22.04 LTS with the MIG-S2 board, using the same .ini module configuration files as on Windows.

Power on, register init, sync check, and live streaming work the same way as on Windows — the SDK reports the connected board, power state, and streaming frame rate.

MIG Grabber SDK sample application on Ubuntu 22.04 LTS with the MIG-S2 board

[11:16:23] SDK version: 237
[11:16:23] Using S2 (id 0)
[11:16:23] Config file: /home/cizen/myDev/shareWin/D3.ini
[11:16:28] OpenGrabber(S2) ret=0
[11:16:28] Power On ret=0
[11:16:29] Register Init ret=0
[11:16:30] HSync=1920 (1920), VSync=1080 (1080)
[11:16:31] Live started

Downloads

File	Target	Description
`cyusb_install.tar.xz`	Ubuntu 20.04 / 22.04	CyUSB Suite for Linux — the USB driver layer (`libcyusb`, udev rules) used to reach the grabber board
`miglib_152_install_Ubuntu_20_.tar.xz`	Ubuntu 20.04 LTS	MIG Grabber shared library `libmigGrabber.so.152`
`miglib_152_install_Ubuntu_22_.tar.xz`	Ubuntu 22.04 LTS	MIG Grabber shared library `libmigGrabber.so.152`

Both archives extract flat, with no wrapper directory, so unpack each into its own folder.

1. Install the CyUSB driver

mkdir cyusb_install && tar xf cyusb_install.tar.xz -C cyusb_install
cd cyusb_install
sudo ./install.sh

install.sh must be run as root, from the directory it was extracted into — it resolves configs/ and lib/ relative to the current directory. It:

writes configs/88-cyusb.rules, a udev rule matching the Cypress vendor ID 04b4 that sets the device node to mode 666 and calls /usr/local/bin/cy_renumerate.sh on device add (A) and remove (R)
copies configs/cyusb.conf to /etc/ and 88-cyusb.rules to /etc/udev/rules.d/
deletes stale libcyusb.so* from /usr/lib and /usr/local/lib
installs lib/libcyusb.so.1 into /usr/local/lib and symlinks libcyusb.so to it
copies cy_renumerate.sh to /usr/local/bin with mode 777

2. Install the MIG Grabber library

mkdir miglib_install && tar xf miglib_152_install_Ubuntu_22_.tar.xz -C miglib_install
cd miglib_install
sudo bash mig_install.sh

mig_install.sh carries no shebang and is not marked executable, so run it with bash. It:

removes any existing /usr/local/lib/libmigGrabber.so*
copies libmigGrabber.so.152 into /usr/local/lib
symlinks /usr/local/lib/libmigGrabber.so to libmigGrabber.so.152

On Ubuntu 20.04 LTS the steps are identical — use the miglib_152_install_Ubuntu_20_ archive instead.

ROS2

The mig_grabber_cpp package brings the grabber up as a ROS2 node (mig_camera_cpp) and publishes the captured images as sensor_msgs/msg/Image.

Launch the node:

ros2 launch mig_grabber_cpp mig_camera_cpp.launch.py

ROS2 mig_camera_cpp node streaming from the MIG-S2 board

Published topics

Topic	Type	Description
`/mig_camera_cpp/image_raw`	`sensor_msgs/msg/Image`	Captured frames
`/mig_camera_cpp/camera_info`	`sensor_msgs/msg/CameraInfo`	Camera information
`/mig_camera_cpp/status`	`std_msgs/msg/String`	Board, power, and streaming status

List the topics with their types:

ros2 topic list -t

Read the current status:

ros2 topic echo /mig_camera_cpp/status --once

data: status=streaming powered=True streaming=True frames=8945 fps=29.9842 wait_ms=32.0591

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