oak-d camera & ros2 설치 및 영상 출력

소프트웨어 설치

• 소스 설치

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

sudo apt install libopencv-dev

sudo apt install python-rosdep 
# 또는
sudo apt install python3-rosdep

 

• 로스뎁 초기화

sudo rosdep init

 

• 에러 발생

ERROR: default sources list file already exists:
	/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize

 

• 해결방법

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

 

• 로스뎁 업데이트

rosdep update

 

설정

• 설정하기 위한 설치 cmake 버전 >= 3.10.2 및 OpenCV 버전 >= 4.0.0

apt update
apt install cmake python3-pip
pip3 install opencv-python

 

• 설정

mkdir -p dai_ws/src
cd dai_ws/src
git clone <https://github.com/luxonis/depthai-ros.git>
cd ../..
rosdep install --from-paths src --ignore-src -r -y
# 에러 발생시 rosdep install -i --from-path src --rosdistro foxy -y --os=ubuntu:mint

# ex) source /opt/ros/foxy/setup.bash
source /opt/ros//setup.bash

colcon build
source install/setup.bash

 

• start example

cd dai_ws (Our workspace)
source install/setup.bash
ros2 launch depthai_examples stereo_inertial_node.launch.py

 

OAK-D Install & Run

• Check MyriadX

lsusb | grep MyriadX

 

• Download directory

git clone <https://github.com/luxonis/depthai.git>

 

• install

apt-get install python3-pip python3-venv

cd depthai
python3 -m venv venv
source venv/bin/activate
pip install -U pip
python3 install_requirements.py

 

• run

python3 depthai_demo.py