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OAK Apps
DepthAI
AI
Software Stack
Troubleshooting

ON THIS PAGE

  • DepthAI ROS
  • Install from ros binaries
  • Install from source
  • DepthAI filters
  • Custom converters

DepthAI ROS

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 example on how to do that)
  • Use the default ROS driver package for your distro (see ROS Driver for details):
    • Humble / Jazzy: depthai_ros_driver_v3
    • Kilted and newer: depthai_ros_driver
Supported ROS versions:
  • Humble
  • Jazzy
  • Kilted

Install from ros binaries

Install the packages matching your ROS distro.
Kilted and newer
Humble/Jazzy

Kilted and newer

Command Line
1sudo apt install ros-$ROS_DISTRO-depthai-ros

Install from source

For installing from source, please refer to this guide.

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.