ROS2 Foxy depthai_ ROS tutorial

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▌ Preface

Hello, Hello everyone , Here is OAK China , I'm your assistant .

I found out that will OAK Use in ROS There are more and more friends on , Last week, a user mentioned in our group ROS2 Problems in the use of , Now we depthai-ros The tutorial for has ros1 and ros2 The use of has been updated .

We have been out before ROS1 The tutorial on （ROS Use precompiled on depthai C++ library ）, In this issue, let's talk about ROS2 How to compile on depthai.

OAK The camera in ROS2 Foxy compile depthai Environmental tutorials

Link to this tutorial video ：B standing -OAK China

PS： It's all from OAK China official website Use the tutorial , May be updated from time to time , Please check the official website for the latest content .

▌1. Related information

platform ：Ubuntu20.04(PC)

depthai edition ：2.16.0

ROS edition ：ROS2 Foxy

▌2. install ROS2

Set up the language environment

Make sure you have a support UTF-8, If you are in the smallest environment （ for example docker Containers ）, Then the language environment may be the smallest , for example POSIX. We use the following settings to test . however , If you use different UTF-8 Supported language environment , There should be no problem. .

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF--ro8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Set download source

You need to ROS 2 apt Add a repository to your system . First , Check the output of this command to ensure that Ubuntu Universe The repository .

apt-cache policy | grep universe

This should output the following line ：

500 http://us.archive.ubuntu.com/ubuntu focal/universe amd64 Packages
    release v=20.04,o=Ubuntu,a=focal,n=focal,l=Ubuntu,c=universe,b=amd64

If you don't see an output line like the one above , Please use these instructions to enable Universe The repository .

sudo apt install software-properties-common
sudo add-apt-repository universe

You will now ROS 2 apt Add a repository to your system .

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg

Then add the repository to your source list .

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http:/

Update your... After setting up the repository apt Repository cache .

sudo apt update

ROS 2 Software packages are built on frequently updated Ubuntu On the system . It is always recommended that you make sure your system is up to date before installing new packages .

sudo apt upgrade

install ROS2 foxy

Desktop installation （ recommend ）：ROS、RViz、 demonstration 、 course .

sudo apt install ros-foxy-desktop

If you have not installed rosdep And not initialized , Please perform the following steps ：

sudo apt install python3-rosdep
sudo rosdep init
rosdep update

▌3. Set up depthai_ros

Installation dependency

The following script will install depthai-core And update the USB Rule and install depthai

sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-docs-website/master/source/_static/install_dependencies.sh | bash 

sudo apt install ./depthai_2.16.0_amd64.deb

install vcstool

sudo apt install python3-vcstool

install opencv

sudo apt install libopencv-dev

install colcon

sudo apt install python3-colcon-common-extensions

Set up the program

The following setup procedure assumes that your cmake edition ≥3.10.2 and OpenCV edition ≥ 4.0.0. We choose dai_ws As the name of the new folder , Because it will be ours depthai ros work area .

mkdir -p dai_ws/src
cd dai_ws
wget https://raw.githubusercontent.com/luxonis/depthai-ros/main/underlay.repos
vcs import src < underlay.repos
source /opt/ros/foxy/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash

Execute the sample

cd dai_ws
source install/setup.bash
ros2 launch depthai_examples stereo_inertial_node.launch.py

▌ Reference material

https://docs.oakchina.cn/en/latest/
https://www.oakchina.cn/selection-guide/

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