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

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 are udp, shm, builtin (or rmw_fastrtps_cpp), rmw_cyclonedds_cpp. Corresponding DDS XML files can be found in the /var/snap/husarion-depthai/common directory (custom FastDDS setups can also be created here).
• ros.namespace: (unset) - Namespace for all topics and transforms.

The driver contains the following keys:

• name: oak
• parent-frame: oak-d-base-frame
• camera-model: OAK-D
• cam-pos-x: 0.0
• cam-pos-y: 0.0
• cam-pos-z: 0.0
• cam-roll: 0.0
• cam-pitch: 0.0
• cam-yaw: 0.0
• camera-params: default - Sets the camera parameters based on /var/snap/husarion-depthai/common/camera-params-<VALUE>.yaml
• ffmpeg-params: default - Sets the FFMPEG parameters based on /var/snap/husarion-camera/common/ffmpeg-params-<VALUE>.yaml

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

snap set husarion-depthai driver.namespace=robot