Depthai ROS Repository

Hi and welcome to the main depthai-ros respository! Here you can find ROS related code for OAK cameras from Luxonis. Don’t have one? You can get them here!

Main features:

• You can use the cameras as classic RGBD sensors for your 3D vision needs.
• You can also load Neural Networks and get the inference results straight from camera!

You can develop your ROS applications in following ways:

• Use classes provided in depthai_bridge to construct your own driver (see stereo_inertial_node example on how to do that)
• Use depthai_ros_driver package (currently available on ROS2 Humble and ROS Noetic) to get default experience (see details below on how)

Supported ROS versions:

• Noetic
• Humble

For usage check out respective git branches.

Install from ros binaries

Add USB rules to your system

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger

Install depthai-ros. (Available for Noetic, foxy, galactic and humble) sudo apt install ros-<distro>-depthai-ros

Install from source

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

Setting up procedure

The following setup procedure assumes you have cmake version >= 3.10.2 and OpenCV version >= 4.0.0. We selected dai_ws as the name for a new folder, as it will be our depthai ros workspace.

1. mkdir -p dai_ws/src
2. cd dai_ws/src
3. git clone --branch <ros-distro> https://github.com/luxonis/depthai-ros.git
4. cd ..
5. rosdep install --from-paths src --ignore-src -r -y
6. source /opt/ros/<ros-distro>/setup.bash
7. catkin_make_isolated (For ROS1) MAKEFLAGS="-j1 -l1" colcon build (for ROS2)
8. source devel/setup.bash (For ROS1) & source install/setup.bash (for ROS2)

Note If you are using a lower end PC or RPi, standard building may take a lot of RAM and clog your PC. To avoid that, you can use build.sh command from your workspace (it just wraps colcon commands): ./src/depthai-ros/build.sh

Docker

You can additionally build and run docker images on your local machine. To do that, add USB rules as in above step.

Running prebuilt images

Each tagged version has it’s own prebuilt docker image. To download and run it:

xhost +local:docker

to enable GUI tools such as rviz or rqt.

Then

docker run -it -v /dev/:/dev/  --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix luxonis/depthai-ros:noetic-latest [CMD]

Where [CMD] is what’s going to be executed when container is initially run and could be for example:

• bash (it will allow you to browse files and make modifications to the code and rebuild it)
• zsh (other shell that is installed that has some advantages over bash)
• roslaunch depthai_ros_driver camera.launch (this is just an example, any launch file will work here) A side note here, launch files in depthai_ros_driver have some default parameters set by .yaml files inside the driver. You can either edit them inside the container itself, or you can make a .yaml file on your host (let’s say /home/YOUR_USERNAME_HERE/params/example_config.yaml) and pass it as an argument to the executable, as follows:

docker run -it -v /dev/:/dev/ -v /home/YOUR_USERNAME_HERE/params:/params --network host --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix luxonis/depthai-ros:noetic-latest roslaunch depthai_ros_driver camera.launch params_file:=/params/example_config.yaml

Note, to make images more compact only some external dependencies are installed, for example if you want to try out RTABMap example in docker, you have to:

• Install it by running the container in bash/zsh mode
• Modify the Dockerfile so that it’s installed during building - you’ll have to rebuild the container after that.
• Run base camera node in our container and RTABMap separately on host/ in a separate container (see the launch file on what parameters/topic names need to be changed when running separately).

Building

Clone the repository and inside it run (it matters on which branch you are on):

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