I'm following the tutorial here:
luxonis/depthaiblob/main/depthai_sdk/examples/streaming/ros_publishing.py
from depthai_sdk import OakCamera
import depthai
with OakCamera(usb_speed=depthai.UsbSpeed.HIGH) as oak:
color = oak.create_camera('color', resolution='720p', encode='jpeg', fps=5)
color.config_color_camera(isp_scale=(2,3))
left = oak.create_camera('left', resolution='400p', encode='jpeg',fps=5)
right = oak.create_camera('right', resolution='400p', encode='jpeg',fps=5)
imu = oak.create_imu()
imu.config_imu(report_rate=40, batch_report_threshold=5)
oak.ros_stream([left, right, color, imu])
# oak.visualize(left)
oak.start(blocking=True)
And when I run I get two separate issues:
alansrobotlab@alfie:~/Documents/PlatformIO/Projects/alfie$ /bin/python /home/alansrobotlab/Documents/PlatformIO/Projects/alfie/startoak.py
/home/alansrobotlab/.local/lib/python3.10/site-packages/depthai_sdk/oak_camera.py:237: UsbWarning:
Device connected in USB2 mode! This might cause some issues.
In such case, please try using a (different) USB3 cable,
or force USB2 mode 'with OakCamera(usbSpeed=depthai.UsbSpeed.HIGH)'
warnings.warn("Device connected in USB2 mode! This might cause some issues. "
Closing OAK camera
Traceback (most recent call last):
File "/home/alansrobotlab/Documents/PlatformIO/Projects/alfie/startoak.py", line 12, in <module>
oak.ros_stream([left, right, color, imu]
AttributeError: 'OakCamera' object has no attribute 'ros_stream'
First the description of how to bring up the camera in USB2 mode. The message in the output calls the parameter usbSpeed but it's not recognized only usb_speed is valid. Anyhoo it doesn't honor the flag, gives a warning then closes the camera.
The second problem is that there's no "ros_stream" method for the OakCamera object. This is in ubuntu 22.04 humble with 2.90 packages.
What am I doing wrong?
Alan
