OAK-D Driver

This package provides a standalone ROS2 driver for OAK-D cameras that can run on a robot and publish camera data over the network.

Features

• RGB and depth image publishing
• IMU data publishing
• Visual-Inertial Odometry (VIO)
• Configurable camera parameters
• ROS2 Jazzy compatible

Usage

On the robot (where the OAK-D camera is connected):

# Build the package
colcon build --packages-select oakd_driver

# Source the workspace
source install/setup.bash

# Launch the camera driver
ros2 launch oakd_driver driver.launch.py name:=oak

Parameters

• name: Camera node name (default: "oak")
• params_file: Path to camera configuration file
• parent_frame: Parent frame for camera transforms
• use_rviz: Whether to launch RViz for visualization

Published Topics

• /{name}/rgb/image_raw: RGB camera images
• /{name}/rgb/camera_info: RGB camera info
• /{name}/stereo/image_raw: Depth images
• /{name}/vio/odometry: Visual-inertial odometry

Network Configuration

Make sure both the robot and the laptop running map_builder are on the same ROS2 domain and can communicate over the network.

Set the same ROS_DOMAIN_ID on both machines:

export ROS_DOMAIN_ID=42

Configuration

Edit config/rtabmap.yaml to modify camera settings:

• Frame rates
• Image resolution
• VIO parameters
• IMU settings