[custom] Ability to publish RGB from multiple OAK-D PoE cameras at the same time

[ahmadchalhoub]

Hello, I am currently using camera.launch.py from the _depthai_rosdriver package to publish RGB frames from an OAK-D PoE camera as a ROS2 topic. From my understanding, this currently only supports publishing data from a single camera (I might be mistaken; please correct me if I missed it). Is there any configuration that I can easily do to allow publishing data from multiple OAK-D PoE cameras at the same time, or would I need to implement it myself? And if so, could you please guide me to where I would need to implement any necessary changes?

Would really appreciate the help with this!

Thanks, Ahmad

[Serafadam]

Hi, to launch multiple cameras you can refer to multicam launch, you'll need to provide a config file with specific camera IPs.

[ymei]

I have the same question. I have two PoE cams with IP 192.168.2.1 and 192.168.2.2. Where should these IPs go? In the code the comment says mx_ids

# put mx_ids here
    cams = ["oak_d_w", "oak_d_lite"]

but obviously mx_ids cannot be put there.

I just want to have raw left&right b/w images and imu values from both cameras.

Thanks.

[Serafadam]

Hi, that comment is a leftover, IPs' should be set in camera config file for each node as in the example here

[ymei]

I see in multicam_example.yaml there's the i_mx_id field but not the ip (or camera name?) field. Where should the IP go exactly?

[Serafadam]

You can set i_ip parameter to the desired IP

[Serafadam]

Closing due to inactivity, please reopen if there are still questions.