- 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
pcl
OpenCV
, cv_bridge
: manual install? refer here OpenCV
, cv_bridge
usb-1.0-0-dev
$ sudo apt install libusb-1.0-0-dev
- 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
$ 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
- Change the parameters in the
.launch
file.
$ roscore
$ roscd oakd_ros && rviz -d rviz.rviz
$ roslaunch oakd_ros main.launch