How to use custom stereo setup with Oak FFC 3P for ROS 2?

ShivamSharma

Hi,

I am using 2 OV9282 cameras with the Oak FFC 3P. I want to get the feed from the cameras on ROS 2 topics. I saw the examples on depthAi-ros, but they were not for custom stereo setup. I have the following questions:

1. Will I have to create my own ROS 2 driver for my stereo setup?
2. If not, then which launch and configuration file do I use?
3. Is calibration of this camera possible with the DepthAi library? Please guide me on this.

I am planning to do Slam on these cameras, so I will also need the camera_info topic, which has the intrinsics. I searched on both the github repository and the Luxonis forum but didn't find any similar questions.

ShivamSharma

Posting this so some other users can find this. But I have an error to debug in this reply.
I was able to get the images from both sensors in ROS2 rviz using the following launch file:
ros2 launch depthai_examples stereo.launch.py

But after about 5 minutes of working I got the following error and the feed in rviz 2 stopped:
Fatal error. Please report to developers. Log: 'Fatal error on MSS CPU: trap: 00, address: 00000000' '0'

Can someone please help me debug this error?

jakaskerl

Hi @ShivamSharma
We have ROS guide here. The examples should be run through configs on ros-driver, so you can quickly edit them.

Thanks,
Jaka

ShivamSharma

Thanks, @jakaskerl.

I was already following that ROS guide, but it doesn't explain all the nodes in each package. I have found the config file to edit with this launch file. As for the error I was getting, it is probably because I have not calibrated the camera yet.

jakaskerl

ShivamSharma
It would probably crash with a different error. Probably crashed because its outdated. Use the files in ros-driver folder.

Thanks,
Jaka

ShivamSharma

@jakaskerl

But do I have to create my own code for the ROS driver of my custom camera because, in the ros-driver folder, I saw that there is no launch file for stereo? Everything in that folder is related to RGBD. I am using a stereo camera.

jakaskerl

Hi @ShivamSharma
You can set different pipeline type: https://docs.luxonis.com/software/ros/depthai-ros/driver/#Pipeline%20parameters

You can set the type to depth and you should get only stereo, no RGB camera.

But yes, you need to customize the config file.

Hope this helps,
Jaka