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Ubuntu18.04 ROS 【Melodic】 OAK-D 設定方法

Last updated at Posted at 2022-03-29

Screenshot from 2022-03-29 10-55-44.png

いつのまにかOAK-DがMelodicでもすんなり動作するようになっていたので、
メモしておきます。

環境

Ubuntu18.04
ROS Melodic
Python3
Oak-D

設定方法

cd ~

sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/main/install_dependencies.sh | sudo bash

sudo apt install python-rosdep #(melodic) 
#or 
sudo apt install python3-rosdep

sudo rosdep init

rosdep update

VCSツールインストール

pip install vcstool

WS設定

mkdir -p oakd_ws/src

cd oakd_ws/src

git clone https://github.com/ros-perception/vision_msgs.git

wget https://raw.githubusercontent.com/luxonis/depthai-ros/main/underlay.repos

vcs import src < underlay.repos

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

source /opt/ros/melodic/setup.bash

catkin_make

source devel/setup.bash

動作確認

cd ~/oakd_ws

source ~/oakd_ws/devel/setup.bash

roslaunch depthai_examples stereo_node.launch

実行結果
Screenshot from 2022-03-29 10-55-44.png

以上

参考

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