DepthAI ROS

This package facilitates the integration of DepthAI and compatible hardware with ROS. List of compatible hardwares can be found here. This package is based on the Gen 1 API for DepthAI and provides an interface for ROS (not ROS2).

This meta-package contains the following packages:

depthai_ros_driver
depthai_ros_msgs
node_interface

Setup

Requirements

Though this metapackage might work on other systems, it has only been tested on:

Ubuntu 18.04 LTS
Ubuntu 20.04 LTS

A list of pre-requisites:

C++ compiler (recommended: g++ or clang with at least C++17 support)
CMake (3.10.2 or higher)
Boost (1.65.1 or higher)
OpenCV (3.2 or higher)
ROS (melodic or higher)
ROS Packages (see rospack deps depthai_ros_driver)

Grab the source code

To use depthai_ros metapackage, clone this repo with submodules:

$ git clone --recursive https://github.com/rapyuta-robotics/depthai_ros.git

For older versions of git, one of the following processes might be needed:

Use --recurse-submodules instead of --recursive
Clone without any flags and then grab the submodules using git submodule update --init --recursive
Prepare MobileNetSSD compatible model (blob and json file). Once issue #5 is resolved, this will not be necessary for a default model. Due to limitations of Gen1 API used in the ROS driver, a model is required to run it.

Usage

Compile using cmake build depthai_ros or your preferred cmake_build_isolated or colcon process. catkin_build will not build the package successfully.
Launch the node or nodelet by appropriately choosing the correct launch file and parameters:
```
roslaunch depthai_ros_driver depthai_{node,nodelet}.launch
```
Custom models can be provided using blob_file and blob_file_config arguments to the launch file. If an argument A needs value B, the syntax is roslaunch <launch_file> A:=B

Get the relevant details using:

$ rostopic list /depthai
$ rosservice list /depthai
$ rosparam list /depthai

Details

`depthai_ros_msgs`

This package contains all the custom messages and services used by the depthai_ros_driver API. While we tried to use the standard messages where possible, due to the unique hardware, it wasn't possible to stick with the standard messages everywhere.

`depthai_ros_driver`

This package consists of a node and a nodelet version of the ROS driver. It also contains the launch files required for an easy use.

`node_interface`

This package contains some utilities used to reduce code duplication between the node and the nodelet version in depthai_ros_driver.

Amshra267/depthai_ros