CPU monocular depth visualisation for the SO-101 arm. Subscribes to a ROS 2 image topic, runs Depth Anything V2 (Small) with ONNX Runtime, and republishes both a colorised relative-depth image (for viewing) and a raw normalised depth map (32FC1, for downstream consumers such as so101_safety).
This is the "ai-vision-ros2" snap's DEPTH variant, published on the
latest/stable channel. The model weights are bundled directly in this snap
(fetched from Hugging Face at build time) -- no content interface, no
separate model snap, no manual snap connect step required.
The SAME snap name also has a completely different PERSON-DETECTION variant (YOLOv8n, so101_yolo_demo) published on latest/edge -- swap between them live with:
snap refresh ai-vision-ros2 --channel=edge # -> person detection
snap refresh ai-vision-ros2 --channel=stable # -> back to depth
Runs as an always-on daemon (like usb-cam). Configure it with snap set
instead of launch arguments, e.g.:
snap set ai-vision-ros2 input-image-topic=/my/camera/image_raw
snap set ai-vision-ros2 output-image-topic=/camera/depth/visualization
snap set ai-vision-ros2 output-depth-topic=/perception/depth
snap set ai-vision-ros2 min-period-s=0.1
Other options: model-input-size, publish-width, publish-height, intra-op-threads, namespace, node-name, ros-domain-id, rmw-implementation.
Check status with snap services ai-vision-ros2 / snap logs ai-vision-ros2.
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snap can be installed on Fedora from the command line:
sudo dnf install snapd
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
To install ai-vision-ros2, simply use the following command:
sudo snap install ai-vision-ros2
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.