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-rosdep(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 (For ROS1) colon build (for ROS2)
8. source devel/setup.bash (For ROS1) & source install/setup.bash (for ROS2)

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.