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AGENTS.md

Summary

This is the smallest ROS app wrapper in the repository. It is the best starting point when you need to run depthai_ros_driver as an RVC4 standalone app and publish standard RGB, stereo, and IMU topics to a host ROS graph.

Use This Example When

  • You need the simplest ROS app packaging example under apps/ros/.
  • You want a wrapper around the packaged depthai_ros_driver launch files rather than a custom ROS workspace.
  • You need RGBD and IMU topics that can be visualized from a host machine.
  • You want the most direct reference for how a ROS app is launched from oakapp.toml.

Do Not Use This Example When

  • You need local ROS source code in the repo that changes behavior.
  • You need RGB pointclouds or spatial bounding boxes as the main output.
  • You need /cmd_vel control logic or a custom robot node.
  • You need a non-ROS standalone app or a Visualizer-based frontend.

Quick Facts

  • Category: apps/ros/ros-driver-basic
  • Shape: ros
  • Primary task: standalone ROS driver app for RGB, stereo, and IMU publishing
  • Entrypoint: oakapp.toml
  • Standalone path: oakapp.toml
  • Frontend: none
  • Runs on: RVC4 standalone only
  • Requires: RVC4 device; host ROS 2 environment to subscribe; rviz2 for visualization
  • Input: on-device RGB, stereo, and IMU sensors
  • Output: ROS topics such as /oak/rgb/image_raw, /oak/stereo/image_raw, and /oak/imu/data
  • Models: none defined locally in this repo
  • Visualizer / UI: ROS 2 tools such as rviz2

Read First

  • README.md: host ROS setup, visualization guidance, and troubleshooting notes
  • oakapp.toml: container image, package installation, and exact launch command
  • parameters.yaml: local ROS parameter overrides passed to the driver

Architecture

  • The app uses the library/ros:kilted-ros-base base image.
  • oakapp.toml installs ros-kilted-depthai-ros.
  • The entrypoint sources ROS Kilted and launches depthai_ros_driver/driver.launch.py.
  • parameters.yaml enables IR and requests the RGBD pipeline type.
  • All pipeline and topic behavior beyond that comes from the installed ROS package, not local source files in this example directory.

Data Flow

  • device sensors -> depthai_ros_driver -> ROS 2 DDS graph
  • ROS graph -> host subscribers / rviz2

Modification Guide

  • Safe to change: parameters.yaml, host RViz usage, launch arguments in oakapp.toml
  • Requires care: ROS distribution assumptions, topic expectations on the host, parameter names defined by external ROS packages
  • Likely to break if changed blindly: assuming there is local pipeline source here, or changing launch/package names without matching the installed ROS package version

Common Adaptations

Constraints

  • This example is RVC4 standalone only.
  • There is no local ROS package source in this example directory; the real runtime behavior comes from the installed depthai_ros_driver.
  • Host-side ROS setup is still required to inspect or visualize the published topics.

Non-Obvious Repo Conventions

  • The example copies resolv.conf into the container so package installation works during build.
  • The local parameters.yaml is part of the launch command; this file is the main place to customize behavior here.
  • INDEX.md classifies this as a standalone ROS app, so do not treat it like a general-purpose peripheral example.

Related Examples

Validation

  • Run: oakctl app run .
  • Host validation: ros2 topic list and rviz2
  • Success looks like: the app publishes RGB, stereo, and IMU topics and they can be visualized from the host ROS environment
  • Common failure meaning: the host ROS environment is not sourced, the wrong ROS middleware is being used, or the installed package versions do not match the topic expectations