chengguizi / oak_ros

Dependencies

1. There is no need to clone the official OAK ROS wrapper
2. The only required dependency is compiled and installed depthai_core. The installed directory is to be changed with in the CMakeLists.txt, declared as depthai_DIR

set(depthai_DIR "/home/$ENV{USER}/git/depthai-core/build/install/lib/cmake/depthai")

Other ROS packages needed

sudo apt install ros-noetic-pcl-conversions ros-noetic-pcl-ros

Runing the Node

Automatic dicovery of all connected OAK devices and expose the stereo streams as ROS topics in the format /oak{#no}/[left/right]

rosrun oak_ros oak_ros --mesh-dir <./data folder>