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OAK-D Camera ROS 2 Launcher

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This package provides a ROS 2 launch file to initialize and configure the OAK-D camera for RGBD, stereo, and point cloud processing. It includes adjustable camera configurations for transform frames, position, orientation, and depth processing parameters, along with a sample RViz configuration.

Installation

  1. Execute the below command to install the required dependencies:

    sudo wget -qO- https://docs.luxonis.com/install_dependencies.sh | bash

    Please refer to Installation documentation if any issues occur.

  2. Clone the repository and add it to your ROS 2 workspace:

    git clone https://github.com/jmguerreroh/oak_d_camera.git

  3. Install dependencies:

    rosdep install --from-paths src --ignore-src -r -y

  4. Build the workspace:

    colcon build --symlink-install

Usage

To launch the OAK-D camera node with default parameters:

ros2 launch oak_d_camera rgbd_stereo.launch.py

Launch Arguments

The launch file provides several configurable arguments:

Camera Parameters

  • camera_model: Model of the camera. Options: OAK-D, OAK-D-LITE. Default: OAK-D-LITE
  • tf_prefix: TF prefix for camera frames. Default: oak
  • base_frame: Name of the camera's base frame. Default: oak-d_frame
  • parent_frame: Parent frame for the camera's base. Default: oak-d-base-frame

Camera Position and Orientation

  • cam_pos_x, cam_pos_y, cam_pos_z: Camera position relative to the base frame. Default: 0.0
  • cam_roll, cam_pitch, cam_yaw: Camera orientation relative to the base frame. Default: 0.0

Depth Processing Parameters

  • lrcheck: Enable left-right consistency check. Default: True
  • extended: Enable extended disparity range. Default: False
  • subpixel: Enable subpixel accuracy. Default: True
  • confidence: Set confidence threshold for depth estimation. Default: 200
  • LRchecktresh: Set left-right consistency threshold. Default: 5

Please refer to StereoDepth documentation for more information.

Options

  • only_rgb: Enable publishing of only RGB images. Default: False
  • use_rviz: Launch RViz for visualization. Default: True use_depth: Enable depth image publishing. Default: True
  • use_disparity: Enable disparity image publishing. Default: True
  • use_lr_raw: Enable left and right raw image publishing. Default: True
  • use_pointcloud: Enable point cloud publishing. Default: True
  • pc_color: Use color in the point cloud. Options: True for color or False for intensity. Default: True

Visualizing in RViz

The launch file opens RViz with a pre-configured view. You can modify rviz/rgbd_stereo_pcl.rviz to customize the visualization.

About

This project was made by José Miguel Guerrero, Associate Professor at Universidad Rey Juan Carlos.

Copyright © 2024.

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License

This work is licensed under the terms of the MIT license.

License: MIT