# DepthAI ROS

> **Looking for the older ROS driver?**
> If you are looking for the older
> **v2**
> driver documentation, please visit
> [V2 Docs](https://docs.luxonis.com/software/ros/depthai-ros.md)
> .

[luxonis/depthai-ros](https://github.com/luxonis/depthai-ros) allows you to:

 * Use the cameras as classic RGBD sensors for your 3D vision needs.
 * Load Neural Networks and get the inference results straight from camera!

You can develop your ROS applications in following ways:

 * Use classes provided in depthai_bridge to construct your own driver (see
   [rgb_publisher](https://github.com/luxonis/depthai-ros/blob/kilted/depthai_examples/src/rgb_publisher.cpp) example on how to do
   that)
 * Use the default ROS driver package for your distro (see [ROS
   Driver](https://docs.luxonis.com/software-v3/depthai/ros/driver.md) for details):
   * Humble / Jazzy: depthai_ros_driver_v3
   * Kilted and newer: depthai_ros_driver

Supported ROS versions:

 * Humble
 * Jazzy
 * Kilted

> **Package naming**
> The ROS v3 driver is now available on
> **Humble**
> ,
> **Jazzy**
> , and
> **Kilted**
> .
> - **Humble / Jazzy:**
> use the
> `_v3`
> package names, for example
> `depthai_ros_v3`
> and
> `depthai_ros_driver_v3`
> .
> - **Kilted and newer:**
> v3 is the default driver, so the package names no longer carry the
> `_v3`
> suffix, for example
> `depthai_ros_driver`
> .
> At the moment, if you want the newest Humble/Jazzy binaries before they sync to the stable ROS apt repository, use the
> **ROS testing repository**
> .

## Install from ros binaries

Install the packages matching your ROS distro.

#### Humble/Jazzy

```bash
sudo apt install ros2-testing-apt-source
sudo apt update
sudo apt install ros-$ROS_DISTRO-depthai-ros-v3
```

#### Kilted and newer

```bash
sudo apt install ros-$ROS_DISTRO-depthai-ros
```

## Install from source

For installing from source, please refer to [this guide](https://docs.luxonis.com/software-v3/depthai/ros/build-from-source.md).

## DepthAI filters

depthai_filters contains small composable node examples that show how to work with data from multiple topics. Available filters:

 * Detection2DOverlay - subscribes to /nn/detections and nn/passthrough/image_raw topics. To see it in action, run ros2 launch
   depthai_filters example_det2d_overlay.launch.py.
 * SegmentationOverlay, overlays semantic segmentation from nn/image_raw on top of image from nn/passthrough/image_raw, to see it
   in action, run ros2 launch depthai_filters example_seg_overlay.launch.py
 * SpatialBB - publishes bounding boxes as 3D line Markers based on spatial detections coming from driver node, to run: ros2
   launch depthai_filters spatial_bb.launch.py
 * FeatureTrackerOverlay - publishes Tracked Features overlay based on features and images coming from the driver
 * Features3D - uses depth image to republish features as 3D pointcloud, to run `ros2 launch depthai_filters
   example_feature_3d.launch.py
 * ThermalTemp - visualizes data from thermal stream on OAK-T, you can use mouse to see what temperature is given part of image,
   to run ros2 launch depthai_filters thermal_temp.launch.py

## Custom converters

Users can write Custom converters and plug them in for bridge Publisher. If there a standard Message or usecase for which we have
not provided a ros msg or converter feel free to create a issue or reach out to us on our discord community. We would be happy to
add more.