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OAK 应用
DepthAI
AI
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本页目录

  • 快速开始 - 基本应用安装
  • 为 RVC4 开发 ROS 应用
  • 修改基本示例
  • 自定义工作空间和管道

Hub 集成

快速开始 - 基本应用安装

设置好摄像头后，您应该能在 Hub 应用商店中看到 ROS 包 应用类别。如果您安装并运行它，摄像头将在板载运行 ROS 驱动，并发布 RGB、深度和 IMU 数据。您可以在连接到同一网络的主机上检查和可视化这些数据，就像使用普通运行 ROS 的设备一样。

为 RVC4 开发 ROS 应用

以下所有示例都可以在 示例仓库 中找到。

修改基本示例

让我们来看看发布到商店的基本示例是如何构建的。您可以在 ros-driver-basic 目录中找到它。我们最感兴趣的是 oakapp.toml 和 parameters.yaml 文件。在 parameters.yaml 中，我们可以按照 参数说明文章 中描述的方式设置驱动的参数。
Yaml
1/**:
2  ros__parameters:
3    driver:
4      i_enable_ir: true
5    pipeline_gen:
6      i_pipeline_type: RGBD
oakapp.toml 描述了应用运行的环境。它使用一个基础 ROS Kilted 镜像，其中已安装 depthai-ros 包，并将参数文件复制到该镜像中。设置完成后，驱动被启动，参数文件被传递给它。
Toml
1identifier = "example.apps.ros.ros-driver-basic"
2app_version = "0.9.0"
3
4prepare_container = [
5    { type = "COPY", source = "resolv.conf", target = "/etc/resolv.conf" },
6    { type = "RUN", command = "apt-get update" },
7    { type = "RUN", command = "apt-get install -y ros-kilted-depthai-ros"},
8]
9
10prepare_build_container = [
11
12]
13
14build_steps = [
15]
16
17entrypoint = ["bash", "-c", "source /opt/ros/kilted/setup.bash && ros2 launch depthai_ros_driver driver.launch.py params_file:=/app/parameters.yaml"]
18
19[base_image]
20api_url = "https://registry-1.docker.io" 
21service = "registry.docker.io" 
22oauth_url = "https://auth.docker.io/token"
23auth_type = "repository" 
24auth_name = "library/ros"
25image_name = "library/ros"
26image_tag = "kilted-ros-base"
ros-driver-rgb-pcl 和 ros-driver-spatial-bb 示例遵循类似的逻辑，它们使用不同的启动文件和参数。
Toml
1identifier = "example.apps.ros.driver-rgb-pcl"
2app_version = "0.9.0"
3
4prepare_container = [
5    { type = "COPY", source = "resolv.conf", target = "/etc/resolv.conf" },
6    { type = "RUN", command = "apt-get update" },
7    { type = "RUN", command = "apt-get install -y ros-kilted-depthai-ros"},
8]
9
10prepare_build_container = [
11
12]
13
14build_steps = [
15]
16
17entrypoint = ["bash", "-c", "source /opt/ros/kilted/setup.bash && ros2 launch depthai_ros_driver rgbd_pcl.launch.py"]
18
19[base_image]
20api_url = "https://registry-1.docker.io" 
21service = "registry.docker.io" 
22oauth_url = "https://auth.docker.io/token"
23auth_type = "repository" 
24auth_name = "library/ros"
25image_name = "library/ros"
26image_tag = "kilted-ros-base"
Toml
1identifier = "example.apps.ros.driver-spatial-bb"
2app_version = "0.9.0"
3
4prepare_container = [
5    { type = "COPY", source = "resolv.conf", target = "/etc/resolv.conf" },
6    { type = "RUN", command = "apt-get update" },
7    { type = "RUN", command = "apt-get install -y ros-kilted-depthai-ros"},
8]
9
10prepare_build_container = [
11
12]
13
14build_steps = [
15]
16
17entrypoint = ["bash", "-c", "source /opt/ros/kilted/setup.bash && ros2 launch depthai_filters spatial_bb.launch.py"]
18
19[base_image]
20api_url = "https://registry-1.docker.io" 
21service = "registry.docker.io" 
22oauth_url = "https://auth.docker.io/token"
23auth_type = "repository" 
24auth_name = "library/ros"
25image_name = "library/ros"
26image_tag = "kilted-ros-base"

自定义工作空间和管道

另一个有趣的示例位于 ros-driver-custom-workspace 中。我们可以看到如何开发直接在设备上运行的完整 ROS 应用。与之前的示例一样，我们有 oakapp.toml 和 parameters.yaml 文件。此外，还有一个 src 目录，对应于经典 ROS 工作空间中 src 目录的设置方式。其中有两个包：example_package 基于 ROS 发布者教程，包含用于此演示的自定义启动文件。我们还可以看到 dai_ros_plugins 包，展示了如何创建自定义插件管道，然后可以直接在驱动中加载。管道插件类型在传递给自定义启动文件的 parameters.yaml 文件中指定。在 oakapp.toml 文件中，我们可以看到自定义工作空间是如何（直接在设备上！）构建和加载的。
Toml
1identifier = "example.apps.ros.driver-custom-workspace"
2app_version = "0.9.0"
3
4prepare_container = [
5    { type = "COPY", source = "resolv.conf", target = "/etc/resolv.conf" },
6    { type = "RUN", command = "apt-get update -qq" },
7    { type = "RUN", command = "apt install -y ros2-testing-apt-source"},
8    { type = "RUN", command = "apt-get update -qq" },
9    { type = "RUN", command = "apt-get install -qy ros-kilted-depthai-ros python3-colcon-common-extensions"},
10]
11
12prepare_build_container = [
13
14]
15
16build_steps = [
17    "mkdir -p /ws/src",
18    "cp -r /app/src/ /ws/",
19    'bash -c "cd /ws && source /opt/ros/kilted/setup.bash && colcon build"'
20]
21
22entrypoint = ["bash", "-c", "source /ws/install/setup.bash && ros2 launch example_package example.launch.py"]
23
24[base_image]
25api_url = "https://registry-1.docker.io" 
26service = "registry.docker.io" 
27oauth_url = "https://auth.docker.io/token"
28auth_type = "repository" 
29auth_name = "library/ros"
30image_name = "library/ros"
31image_tag = "kilted-ros-base"