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Version: 2.0.0
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This page is describing the upcoming ROS2 version of the MRS UAV System (however, it may be still outdated). If you are looking for ROS1 version of the docs, follow to https://ctu-mrs.github.io/docs/1.5.0/introduction/.

Luxonis

Installation​

The Luxonis driver on ROS2 Jazzy is supported by DepthAI v2, it can be installed by running

sudo apt install ros-jazzy-depthai-ros

Startup​

You need to have the following udev rule for the camera to be detected and work properly

SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", OWNER="mrs", MODE="0666"

Then the launch command will work

ros2 launch depthai_ros_driver camera.launch.py

In Docker​

Place the following compose session snippet into the example session:

  # starts the HW API for connecting the MRS UAV System to PX4
  luxonis:
    image: ctumrs/mrs_uav_system:${MRS_UAV_SYSTEM_VERSION}
    network_mode: host
    volumes:
      - /dev:/dev
    privileged: true
    env_file:
      - ./stack.env
    command: bash -c "ros2 launch depthai_ros_driver camera.launch.py namespace:=$UAV_NAME pointcloud.enable:=true"

Useful parameters​

  • namespace prefix for the oak topics e.g namespace:=$UAV_NAME
  • pointcloud.enable should the node publish a pointcloud topic e.g pointcloud.enable:=true

More info​

Check the following sources

Luxonis Documentation

GitHub Repository