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!
- Use classes provided in depthai_bridge to construct your own driver (see stereo_inertial_node example on how to do that)
- Use depthai_ros_driver package (currently available on ROS2 Humble and ROS Noetic) to get default experience (see ROS Driver on how)

- Noetic
- Humble
- Iron
Install from ros binaries
Install depthai-ros. (Available for Noetic, Humble and Iron)sudo apt install 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
andrgb/preview/image_raw
topics. To see it in action, runros2 launch depthai_filters example_det2d_overla.launch.py
. Note here - If you see that detections misalign in the overlay, adjustrgb.i_preview_size
parameter. - SegmentationOverlay, overlays semantic segmentation from
/nn/image_raw
on top of image fromrgb/preview/image_raw
, to see it in action, runros2 launch depthai_filters example_seg_overlay.launch.py
- WLS filter - stereo depth filter that smooths out overall depth image based on disparity data. It subscribes to
stereo/image_raw
andleft/image raw
topics. Parameters needed to enable it -left.i_publish_topic
,stereo.i_output_disparity
an example can be seen by runningros2 launch depthai_filters example_wls_filter.launch.py
- SpatialBB - publishes bounding boxes as 3D line Markers based on spatial detections coming from driver node
- FeatureTrackerOverlay - publishes Tracked Features overlay based on features and images coming from the driver
- Features3D - uses depth image to republish features as 3D pointcloud