depthai-ros repository

Repository Summary

Checkout URI https://github.com/luxonis/depthai-ros.git
VCS Type git
VCS Version ros-release
Last Updated 2022-11-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
depthai-ros 2.5.3
depthai_bridge 2.5.3
depthai_examples 2.5.3
depthai_ros_msgs 2.5.3

README

depthai-ros

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

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

Executing an example

ROS1

  1. cd dai_ws (Our workspace)
  2. source devel/setup.bash
  3. roslaunch depthai_examples stereo_inertial_node.launch - example node For more examples please check the launch files.

ROS2

  1. cd dai_ws (Our workspace)
  2. source install/setup.bash
  3. ros2 launch depthai_examples stereo_inertial_node.launch.py - example node For more examples please check the launch files.

Running Examples

Mobilenet Publisher:

ROS1:

OAK-D
roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D

OAK-D-LITE
roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D-LITE

With visualizer
roslaunch depthai_examples mobile_publisher.launch | rqt_image_view -t /mobilenet_publisher/color/image

ROS2:

OAK-D
ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D

OAK-D-LITE
ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D-LITE

Testing results

  • ImageConverter - Tested using roslaunch depthai_examples stereo_inertial_node.launch && roslaunch depthai_examples rgb_publisher.launch'
  • ImgDetectionCnverter - tested using roslaunch depthai_examples mobile_publisher.launch
  • SpatialImgDetectionConverter - Ntested using roslaunch depthai_examples stereo_inertial_node.launch

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.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/luxonis/depthai-ros.git
VCS Type git
VCS Version ros-release
Last Updated 2022-11-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
depthai-ros 2.5.3
depthai_bridge 2.5.3
depthai_examples 2.5.3
depthai_ros_msgs 2.5.3

README

depthai-ros

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

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

Executing an example

ROS1

  1. cd dai_ws (Our workspace)
  2. source devel/setup.bash
  3. roslaunch depthai_examples stereo_inertial_node.launch - example node For more examples please check the launch files.

ROS2

  1. cd dai_ws (Our workspace)
  2. source install/setup.bash
  3. ros2 launch depthai_examples stereo_inertial_node.launch.py - example node For more examples please check the launch files.

Running Examples

Mobilenet Publisher:

ROS1:

OAK-D
roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D

OAK-D-LITE
roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D-LITE

With visualizer
roslaunch depthai_examples mobile_publisher.launch | rqt_image_view -t /mobilenet_publisher/color/image

ROS2:

OAK-D
ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D

OAK-D-LITE
ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D-LITE

Testing results

  • ImageConverter - Tested using roslaunch depthai_examples stereo_inertial_node.launch && roslaunch depthai_examples rgb_publisher.launch'
  • ImgDetectionCnverter - tested using roslaunch depthai_examples mobile_publisher.launch
  • SpatialImgDetectionConverter - Ntested using roslaunch depthai_examples stereo_inertial_node.launch

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.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/luxonis/depthai-ros.git
VCS Type git
VCS Version ros-release
Last Updated 2022-11-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
depthai-ros 2.5.3
depthai_bridge 2.5.3
depthai_examples 2.5.3
depthai_ros_msgs 2.5.3

README

depthai-ros

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

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

Executing an example

ROS1

  1. cd dai_ws (Our workspace)
  2. source devel/setup.bash
  3. roslaunch depthai_examples stereo_inertial_node.launch - example node For more examples please check the launch files.

ROS2

  1. cd dai_ws (Our workspace)
  2. source install/setup.bash
  3. ros2 launch depthai_examples stereo_inertial_node.launch.py - example node For more examples please check the launch files.

Running Examples

Mobilenet Publisher:

ROS1:

OAK-D
roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D

OAK-D-LITE
roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D-LITE

With visualizer
roslaunch depthai_examples mobile_publisher.launch | rqt_image_view -t /mobilenet_publisher/color/image

ROS2:

OAK-D
ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D

OAK-D-LITE
ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D-LITE

Testing results

  • ImageConverter - Tested using roslaunch depthai_examples stereo_inertial_node.launch && roslaunch depthai_examples rgb_publisher.launch'
  • ImgDetectionCnverter - tested using roslaunch depthai_examples mobile_publisher.launch
  • SpatialImgDetectionConverter - Ntested using roslaunch depthai_examples stereo_inertial_node.launch

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.

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/luxonis/depthai-ros.git
VCS Type git
VCS Version ros-release
Last Updated 2022-11-28
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
depthai-ros 2.5.3
depthai_bridge 2.5.3
depthai_examples 2.5.3
depthai_ros_msgs 2.5.3

README

depthai-ros

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

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

Executing an example

ROS1

  1. cd dai_ws (Our workspace)
  2. source devel/setup.bash
  3. roslaunch depthai_examples stereo_inertial_node.launch - example node For more examples please check the launch files.

ROS2

  1. cd dai_ws (Our workspace)
  2. source install/setup.bash
  3. ros2 launch depthai_examples stereo_inertial_node.launch.py - example node For more examples please check the launch files.

Running Examples

Mobilenet Publisher:

ROS1:

OAK-D
roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D

OAK-D-LITE
roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D-LITE

With visualizer
roslaunch depthai_examples mobile_publisher.launch | rqt_image_view -t /mobilenet_publisher/color/image

ROS2:

OAK-D
ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D

OAK-D-LITE
ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D-LITE

Testing results

  • ImageConverter - Tested using roslaunch depthai_examples stereo_inertial_node.launch && roslaunch depthai_examples rgb_publisher.launch'
  • ImgDetectionCnverter - tested using roslaunch depthai_examples mobile_publisher.launch
  • SpatialImgDetectionConverter - Ntested using roslaunch depthai_examples stereo_inertial_node.launch

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.

CONTRIBUTING

No CONTRIBUTING.md found.