Thank you for the respond,
I've tried the stereo_inertial_node
by running :
~/dai_ws$ source devel/setup.bash
roslaunch depthai_examples rgb_publisher.launch
roslaunch depthai_examples stereo_inertial_node.launch
And the result :
... logging to /home/antoine/.ros/log/1fe7bfbe-06a2-11ee-8b69-b72e985b6436/roslaunch-ubuntu-2911.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://10.177.6.241:45353/
SUMMARY
========
PARAMETERS
* /depth_image_to_rgb_pointcloud/queue_size: 10
* /robot_description: <?xml version="1....
* /rosdistro: noetic
* /rosversion: 1.16.0
* /stereo_inertial_publisher/LRchecktresh: 5
* /stereo_inertial_publisher/angularVelCovariance: 0
* /stereo_inertial_publisher/confidence: 200
* /stereo_inertial_publisher/depth_aligned: True
* /stereo_inertial_publisher/detectionClassesCount: 80
* /stereo_inertial_publisher/dotProjectormA: 200.0
* /stereo_inertial_publisher/enableDotProjector: False
* /stereo_inertial_publisher/enableFloodLight: False
* /stereo_inertial_publisher/enableSpatialDetection: True
* /stereo_inertial_publisher/expTime: 20000
* /stereo_inertial_publisher/extended: False
* /stereo_inertial_publisher/floodLightmA: 200.0
* /stereo_inertial_publisher/imuMode: 1
* /stereo_inertial_publisher/linearAccelCovariance: 0
* /stereo_inertial_publisher/lrcheck: True
* /stereo_inertial_publisher/manualExposure: False
* /stereo_inertial_publisher/mode: depth
* /stereo_inertial_publisher/monoResolution: 720p
* /stereo_inertial_publisher/mxId:
* /stereo_inertial_publisher/nnName: x
* /stereo_inertial_publisher/poeMode: False
* /stereo_inertial_publisher/previewHeight: 416
* /stereo_inertial_publisher/previewWidth: 416
* /stereo_inertial_publisher/rectify: True
* /stereo_inertial_publisher/resourceBaseFolder: /home/antoine/dai...
* /stereo_inertial_publisher/rgbResolution: 1080p
* /stereo_inertial_publisher/rgbScaleDinominator: 3
* /stereo_inertial_publisher/rgbScaleNumerator: 2
* /stereo_inertial_publisher/sensIso: 800
* /stereo_inertial_publisher/stereo_fps: 15
* /stereo_inertial_publisher/subpixel: True
* /stereo_inertial_publisher/syncNN: True
* /stereo_inertial_publisher/tf_prefix: oak
* /stereo_inertial_publisher/usb2Mode: False
NODES
/
depth_image_convertion_nodelet (nodelet/nodelet)
depth_image_to_rgb_pointcloud (nodelet/nodelet)
nodelet_manager (nodelet/nodelet)
oak_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
stereo_inertial_publisher (depthai_examples/stereo_inertial_node)
ROS_MASTER_URI=http://10.177.6.241:11311
process[oak_state_publisher-1]: started with pid [2934]
ERROR: cannot launch node of type [depthai_examples/stereo_inertial_node]: Cannot locate node of type [stereo_inertial_node] in package [depthai_examples]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[nodelet_manager-3]: started with pid [2935]
process[depth_image_convertion_nodelet-4]: started with pid [2936]
process[depth_image_to_rgb_pointcloud-5]: started with pid [2937]
process[rviz-6]: started with pid [2943]
[ INFO] [1686300394.834919442]: Initializing nodelet with 4 worker threads.
So I was thinking that it is not working but by running rostopic list
i have these topics running :
/clicked_point
/initialpose
/joint_states
/move_base_simple/goal
/nodelet_manager/bond
/rosout
/rosout_agg
/stereo_inertial_publisher/color/camera_info
/stereo_inertial_publisher/color/image
/stereo_inertial_publisher/stereo/depth
/stereo_inertial_publisher/stereo/image
/stereo_inertial_publisher/stereo/image/compressed
/stereo_inertial_publisher/stereo/image/compressed/parameter_descriptions
/stereo_inertial_publisher/stereo/image/compressed/parameter_updates
/stereo_inertial_publisher/stereo/image/compressedDepth
/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_descriptions
/stereo_inertial_publisher/stereo/image/compressedDepth/parameter_updates
/stereo_inertial_publisher/stereo/image/theora
/stereo_inertial_publisher/stereo/image/theora/parameter_descriptions
/stereo_inertial_publisher/stereo/image/theora/parameter_updates
/stereo_inertial_publisher/stereo/points
/tf
/tf_static
I suppose it is working properly as I have /stereo_inertial_publisher/color/image
topic, but I am not shure about it.
What do you think ?
Thanks.