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Luxonis

This tutorial explains how to set up Luxonis cameras using ROS, specifically the Luxonis OAK-D Pro Wide with PoE (Power over Ethernet).

Note from Honza - Luxonis provides a guide for the PoE deployment. Might worth checking it.

Step 1: Install DepthAI ROS​

First, install the DepthAI ROS package, which contains all the necessary tools to communicate with the camera and its inbuilt neural network.

sudo apt install ros-noetic-depthai-ros

You can also install ROS rqt for basic visualization:

sudo apt install ros-noetic-rqt-*

DepthAI provides the depthai_ros_driver package to get the camera running and depthai_bridge for your own development. You can find more information on DepthAI here and on the ROS Driver here.

Step 2: Connect the Camera​

  1. Connect the camera to the Ethernet port and a power supply.

  2. Note that the device might not connect initially. This is because there is no running DHCP to assign it a dynamic IP, even though automatic DHCP is enabled.

    • As a fallback, the OAK PoE camera will default to a static IP at 169.254.1.222 (see the documentation).
    • To resolve this, go to your network settings and configure IPv4 to Manual using an address in the same range (e.g., 169.254.1.10) and set the netmask to 255.255.0.0.
    • If you are using netplan (as the UAVs do) set your static IP to 169.254.1.xxx/16 the /16 is the important part (sets the correct netmask)

  3. Restart the connection, and the device should now be connected.

Step 3: Run the Example​

Try the example from the ROS Driver:

roslaunch depthai_ros_driver camera.launch

You should see the message Camera ready! If successful, you can launch:

rosrun rqt_image_view rqt_image_view

From the menu, select different options to view the camera video. Refer to the additional examples provided in the links above.

Updating the bootloader​

It might happen that the ROS node will complain about a bootloader needed to be flashed. Follow the manual here (link). Here is the digest:

  1. git clone https://github.com/luxonis/depthai-python.git
  2. cd depthai-python/examples
  3. ./install_requirements.py
  4. cd bootloader
  5. ./flash_bootloader.py

Depth Configuration​

Check the article from Luxonis regarding the depth configuration if the depth needs some improvement.