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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.

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

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

   Please refer toInstallation 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

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

ros2 launch oak_d_camera rgbd_stereo.launch.py

The launch file provides several configurable arguments:

• 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

• 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

• 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 toStereoDepth documentation for more information.

• only_rgb: Enable publishing of only RGB images. Default:False
• use_rviz: Launch RViz for visualization. Default:Trueuse_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 orFalse for intensity. Default:True
• use_base: Use the STL base bracket. Default:True

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

This project was made byJosé Miguel Guerrero, Associate Professor atUniversidad Rey Juan Carlos.

Copyright © 2024.

This work is licensed under the terms of theMIT license.