depthai_publisher

EGB349 OAK-D Lite DepthAI Publisher

Ensure you have cv-bridge and vision-opencv packages installed using aptitude store and install depthai packages using pip

sudo apt-get install ros-noetic-compressed-image-transport
sudo apt-get install ros-noetic-camera-info-manager
sudo apt-get install ros-noetic-rqt-image-view
sudo apt-get install ros-noetic-cv-bridge
sudo apt-get install ros-noetic-vision-opencv

sudo apt-get install python3-pip
python3 -m pip install -U depthai

Step 1 - Clone Repository

cd [ros_ws]/src/
git clone https://github.com/Piaktipik/depthai_publisher.git

Step 2 - Build Packages

cd ../

Source ROS Noetic packages

catkin_make

Step 3 - Run the following ros nodes

Terminal 1:

roscore

Terminal 2 (run oak-d frame publisher):

rosrun depthai_publisher dai_publisher

Terminal 3 (run arucomarker identification):

rosrun depthai_publisher aruco_subscriber

Terminal 4 (visualisation):

rqt_image_view

OR

rviz