Depthai ROS Repository

Hi and welcome to the main depthai-ros respository!

Supported ROS versions:

• Noetic
• Galactic
• Humble

For development 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

Docker

You can additionally build and run docker images on your local machine. To do that, add USB rules as in above step, clone the repository and inside it run (it matters on which branch you are on):

docker build --build-arg USE_RVIZ=1 -t depthai-ros .

If you find out that you run out of RAM during building, you can also set BUILD_SEQUENTIAL=1 to build packages one at a time, it should take longer, but use less RAM. RUN_RVIZ arg means rviz will be installed inside docker. If you want to run it you need to also execute following command (you'll have to do it again after restarting your PC):

xhost +local:docker

Then you can run your image in following way:

docker run -it -v /dev/:/dev/ --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix depthai-ros

will run an interactive docker session.

Running on ROS1

docker run -it -v /dev/:/dev/ --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix depthai_ros roslaunch depthai_examples stereo_inertial_node.launch

Will only start stereo_inertial_node launch file (you can try different commands).

Running on ROS2

docker run -it -v /dev/:/dev/ --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix depthai_ros roslaunch depthai_examples stereo_inertial_node.launch.py

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.