Husarion DepthAI

The husarion-depthai snap contains all the necessary software to bring the OAK-x cameras up.

Installation

sudo snap install husarion-depthai

After installation, connect the required interfaces (raw-usb, hardware-observe, shared memory), set the camera model and start the driver:

sudo /var/snap/husarion-depthai/common/post_install.sh
sudo snap set husarion-depthai driver.model=OAK-D-PRO
sudo husarion-depthai.start

Tip

Depth is off in the default preset — pick an RGBD preset (e.g. driver.camera-params=oak-d-pro) or set i_pipeline_type: RGBD in your params file.

Joining a robot's agent chain (optional)

If a rosbot snap is installed alongside this one and you want this camera's network config (RMW, ROS_DOMAIN_ID, namespace) to follow the robot's, connect the chain manually:

sudo snap connect husarion-depthai:agent-chain rosbot:agent-chain

This is not done automatically — installing husarion-depthai never installs rosbot.

Parameters

The snap provides the following configurable parameters (param name: default value):

• driver: {...}
• ros: {...}

The ros contains the following keys:

• ros.domain-id: 0 - Sets the ROS_DOMAIN_ID environment variable for the ROS driver.
• ros.localhost-only: 0 - Sets the ROS_LOCALHOST_ONLY environment variable for the ROS driver.
• ros.transport: udp - Configures DDS transport. Options: udp, shm, udp-lo, fastdds/<name>, cyclonedds/<name>, builtin (or rmw_fastrtps_cpp), rmw_cyclonedds_cpp. Profile files live under /var/snap/husarion-depthai/common/rmw/<impl>/ (add custom ones there). Zenoh arrives via the agent chain, not ros.transport.
• ros.namespace: (unset) - Namespace for all topics and transforms.

The driver contains the following keys:

• name: oak - ROS 2 node name; also the prefix in published topic paths (/<ns>/<name>/rgb/...).
• model: (unset) - one of OAK-D, OAK-D-LITE, OAK-1, OAK-1-LITE, OAK-D-PRO, OAK-D-PRO-W. Required before the driver starts; used for snap-side validation and cockpit capability cards — the depthai driver autodetects the actual hardware.
• camera-params: default - Sets the camera parameters based on /var/snap/husarion-depthai/current/camera-params-<VALUE>.yaml. Bundled presets cover plain RGB/RGBD pipelines (default, oak-1-lite, oak-d-pro, oak-d-pro-poe, oak-d-pro-slam), the OAK on-chip H.264 streaming family (rgb-h264-*), and the dual raw + on-chip H.264 family (rgb-raw-*-h264-*, rgbd-*) — see the project README for the full preset table. Bundled presets are refreshed on every snap refresh; user-added camera-params-*.yaml files are preserved and appear automatically in the cockpit Manage dropdown.
• ffmpeg-params: default - Sets the FFMPEG parameters based on /var/snap/husarion-depthai/current/ffmpeg-params-<VALUE>.yaml
• startup-delay: 30 - Seconds to sleep on first launch after a fresh boot — workaround for the depthai-ros USB cold-start race. 0/'' disables; raise (60+) on slow-booting hosts.
• enable-pointcloud: false - Load depth_image_proc::PointCloudXyzrgbNode and force RGB/stereo timestamp sync. Requires RGBD pipeline (e.g. camera-params=oak-d-pro).
• rectify-rgb: true - Publish rectified <name>/rgb/image_rect (image_proc::RectifyNode); false skips it — saves CPU, image_raw is always published.

To set the parameters, use the snap set command, e.g.,

snap set husarion-depthai ros.namespace=robot

Husarion cockpit integration

This snap embeds husarion-agent as a chain follower: ROS network config (RMW incl. Zenoh, ROS_DOMAIN_ID, namespace) and custom RMW profiles set on the chain owner (the rosbot snap, or the cockpit WebUI Manage tab) propagate here automatically — when chained, don't set ros.transport locally. The ros.* keys above are the standalone path.