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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



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 [email protected]: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

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OAK-D (OpenCV AI Kit camera) ROS simple codes with C++

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