OAK-x cameras driver for Husarion robots
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
):
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