The rover’s main camera is simply an old android phone. We use DroidCam to connect the phone’s camera as a V4L2 webcam device.

We used the build instructions for the DroidCam linux client.

The Jetson Nano and android phone communicate over an IP network created by android USB tethering.

To more easily connect the DroidCam client to the DroidCam app running on the android phone we wrote two small scripts: get_android_ip.py to retrieve the Android phone’s dynamic IP address and start_droidcam.sh to start DroidCam using the former.