depthai-ros(Gen2)

noetic-devel branch also works on melodic(tested). Might also work on kinetic too.

Getting Started

Setting up procedure

1. cd ~
2. git clone --recursive https://github.com/luxonis/depthai-core.git --branch develop
3. cd ~/depthai-core
4. mkdir build
5. cd build
6. cmake .. -D BUILD_SHARED_LIBS=ON
7. cmake --build . --parallel --config Release --target install
8. cd ~
9. mkdir -p ros_ws/src
10. cd ros_ws/src
11. git clone https://github.com/luxonis/depthai-ros.git --branch noetic-devel
12. git clone https://github.com/luxonis/depthai-ros-examples.git --branch noetic-devel
13. git clone https://github.com/ros-perception/vision_msgs.git --branch noetic-devel
14. cd ~/ros_ws
15. source /opt/ros/<ros-distro>/setup.bash or source /opt/ros/<ros-distro>/setup.zsh if using zsh instead of bash
16. catkin_make_isolated --cmake-args -D depthai_DIR=~/depthai-core/build/install/lib/cmake/depthai

Executing an example

1. cd ~/ros_ws
2. source ~/ros_ws/devel_isolated/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.