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 from the command line on openSUSE Leap 15.x and Tumbleweed.
You need first add the snappy repository from the terminal. Choose the appropriate command depending on your installed openSUSE flavor.
Tumbleweed:
sudo zypper addrepo --refresh https://download.opensuse.org/repositories/system:/snappy/openSUSE_Tumbleweed snappy
Leap 15.x:
sudo zypper addrepo --refresh https://download.opensuse.org/repositories/system:/snappy/openSUSE_Leap_15.6 snappy
If needed, Swap out openSUSE_Leap_15. for, openSUSE_Leap_16.0 if you’re using a different version of openSUSE.
With the repository added, import its GPG key:
sudo zypper --gpg-auto-import-keys refresh
Finally, upgrade the package cache to include the new snappy repository:
sudo zypper dup --from snappy
Snap can now be installed with the following:
sudo zypper install snapd
You then need to either reboot, logout/login or source /etc/profile to have /snap/bin added to PATH.
Additionally, enable and start both the snapd and the snapd.apparmor services with the following commands:
sudo systemctl enable --now snapd
sudo systemctl enable --now snapd.apparmor
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.