Light weight code based on the library from Luxonis for OAK-D cameras. ROS2 video streaming based on OAK-D cameras. Uses Executors concept for the multithread support on this library. Executors helps in simultaneous spin of ros2 nodes.

• Publishing of RGB Camera stream over ROS2 topics
• Support for Multiple Cameras
• Support for multithreaded streaming on ROS2 topics Tested with four simultaneous OAK-D lite RGB cameras.

• ROS2 [tested on humble, shouls work on other distributions]
• Python: >3.9

Install the ROS2 (Tested on ROS2 Humble)

Install the required tools with the given script.

python3 install_requirements.py

Change the USB rules by running the command

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger

Test the code by running the demo code

python3 depthai_demo.py

This should output the camera stream with RGB and depth camera windows. Install cv-bridge to support the multicam code

sudo apt-get install ros-(ROS version name)-cv-bridge

Now run the supported code

python3 depthai_ros2_multicam_multithread.py

You should be able to see /videoX topics when you run ros2 topic list in a new terminal.