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.

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?

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.

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 Probably crashed because its outdated.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

    Thanks,
    Jaka

      @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.