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depthai-ros(Gen2)

main branch supports ROS Melodic, ROS Noetic, ROS2 Foxy & Galactic. Might also work on kinetic too.

Getting Started

Install Dependencies

The following script will install depthai-core and update usb rules and install depthai devices

sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/main/install_dependencies.sh | sudo bash

if you don't have opencv installed then try sudo apt install libopencv-dev

if you don't have rosdep installed and not initialized please execute the following steps:

  1. sudo apt install python-rosdep2(melodic) or sudo apt install python3-rosdep
  2. sudo rosdep init
  3. rosdep update

install the following vcstool sudo apt install python3-vcstool

Setting up procedure

The following setup procedure assumes you have cmake version >= 3.10.2 and OpenCV version >= 4.0.0

  1. mkdir -p <directory_for_workspaces>/src
  2. cd <directory_for_workspaces>
  3. wget https://raw.githubusercontent.com/luxonis/depthai-ros/main/underlay.repos
  4. vcs import src < underlay.repos
  5. rosdep install --from-paths src --ignore-src -r -y
  6. source /opt/ros/<ros-distro>/setup.bash
  7. catkin_make
  8. source devel/setup.bash

Executing an example

  1. cd ~/ros_ws
  2. source ~/ros_ws/devel/setup.bash
  3. roslaunch depthai_examples stereo_node.launch - example node

Testing results

  • ImageConverter - Tested using roslaunch depthai_examples stereo_node.launch && roslaunch depthai_examples stereo_nodelet.launch && roslaunch depthai_examples rgb_publisher.launch'
  • ImgDetectionCnverter - tested using roslaunch depthai_examples mobile_publisher.launch
  • SpatialImgDetectionConverter - Not tested yet. (Will add an example on this soon)

Users can write Custom converters and plug them in for bridge Publisher.

If there a standard Message or usecase for which we have not provided a ros msg or converter feel free to create a issue or reach out to us on our discord community. We would be happy to add more.