depthai-ros

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. 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
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) 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 exaples 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 exaples please check the launch files.

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.