OAK-D ROS Simple

• OAK-D (OpenCV AI Kit camera) ROS simple codes with C++ for myself
• Edited the original depthai-ros-examples repo from official manufacturer - link
• Supports: OAK-D, OAK-D Lite, OAK-D PRO

Check the result video

Video1: OAKD, OAKD-Lite, D435i

Video2: OAKD-PRO, OAKD-Lite, D435i

Video3: OAK-D Pro depth after filter parameters got tuned

Dependencies

• pcl
• OpenCV, cv_bridge: manual install? refer here OpenCV, cv_bridge
• usb-1.0-0-dev

  $ sudo apt install libusb-1.0-0-dev

How to install

• Git clone and install depthai-core first

$ cd ~/<your_workspace>/src
$ git clone --recursive git@github.com:engcang/oakd-ros-simple

$ rm -r ~/.hunter

$ cd oakd-ros-simple/depthai-core
$ mkdir build && cd build
$ cmake .. -DBUILD_SHARED_LIBS=ON

$ make install

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

• Build this repo

$ cd ~/your_workspace (check directory)

$ catkin build -Ddepthai_DIR=<your_workspace>/src/oakd-ros-simple/depthai-core/build/install/lib/cmake/depthai

or

$ catkin config -Ddepthai_DIR=<your_workspace>/src/oakd-ros-simple/depthai-core/build/install/lib/cmake/depthai
$ catkin build

How to run

• Change the parameters in the .launch file.

  $ roscore
  $ roscd oakd_ros && rviz -d rviz.rviz
  $ roslaunch oakd_ros main.launch