# 22.5.5.1. 安裝

**\[TB3 SBC 端]** 設定Camera硬體

```
$ sudo raspi-config
```

![](https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-Ll_wSRXj8jypZPOxvaJ%2F-LlaEfwCQNwmOTZeE0KX%2Fpi-cam-hardware-setting-1.png?alt=media\&token=969e96ca-6c59-43a1-8c58-6d3e0494c614)

選 **3**，**Interfacing Options**

![](https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-Ll_wSRXj8jypZPOxvaJ%2F-LlaErRI3UItGcdBSGbU%2Fpi-cam-hardware-setting-2.png?alt=media\&token=af01710b-8399-4dc5-8cac-ec03d9e3668f)

&#x20;選 **P1 Camera**

![](https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-Ll_wSRXj8jypZPOxvaJ%2F-LlaF1m8aHmy6XpOX9Ss%2Fpi-cam-hardware-setting-3.png?alt=media\&token=3495885b-ec68-41a0-a5f5-7ce047ccd2f5)

啟動 camera interface

![](https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-Ll_wSRXj8jypZPOxvaJ%2F-LlaFG3CwOQks3D3f3fI%2Fpi-cam-hardware-setting-4.png?alt=media\&token=69c67792-e8be-4b8b-a524-fd08d4ca6073)

![](https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-Ll_wSRXj8jypZPOxvaJ%2F-LlaFJxWLux7lMoAtAXa%2Fpi-cam-hardware-setting-5.png?alt=media\&token=6e7e4667-1185-4c6f-a94d-194813705ccc)

Raspberry Pi 重啟後，使用以下指令測試系統安裝是否正確。

```
$ raspistill -v -o test.jpg
```

顯示器上應會從攝影機看到 5 秒的預覽畫面，然後照相後存檔為 test.jpg

**\[TB3 SBC 端]**：下列指令可在 ROS 系統安裝相依的 Raspberry Pi Camera package

```
$ cd ~/catkin_ws/src
$ git clone https://github.com/UbiquityRobotics/raspicam_node.git
$ sudo apt-get install ros-kinetic-compressed-image-transport ros-kinetic-camera-info-manager
$ cd ~/catkin_ws && catkin_make
```
