Is ROS support available for Oak-T camera?

AliAfzalaghaeinaeini

Hello,
Currently, I have an oak-t camera and trying to use the depthai_ros_driver to publish data in ROS but I encounter the following error:
/workspace# ros2 run depthai_ros_driver camera_node [INFO] [1732734155.035477178] [camera]: Starting camera. [INFO] [1732734155.043393846] [camera]: No ip/mxid specified, connecting to the next available device. [INFO] [1732734162.334552124] [camera]: Camera with MXID: 14442C10E1341BD000 and Name: 192.168.170.52 connected! [INFO] [1732734162.334610361] [camera]: PoE camera detected. Consider enabling low bandwidthforspecific image topics (see Readme->DepthAI ROS Driver->Specific camera configurations). [INFO] [1732734162.379031123] [camera]: Device type: OAK-T [INFO] [1732734162.385344312] [camera]: Pipeline type: RGB terminate called after throwing an instance of 'std::out_of_range' what(): _Mapbase::at [ros2run]: Aborted

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I was wondering if depthai_ros_driver supports oak-t since neither oak-t* rgb camera model IMX462 (PY154) nor oak-t thermal camera model Tiny1-C is included in the available sensors?

Thanks,

Ali

jakaskerl

AliAfzalaghaeinaeini
@Luxonis-Adam

Luxonis-Adam

Hi, currently there is no support in depthai-ros driver but hopefully it will be coming in a week or two. In the meantime you could spin your own mini driver similarly to how it's done in depthai_examples

Luxonis-Adam

Hi @AliAfzalaghaeinaeini
you can find initial implementation of Thermal camera support on this branch, it will be merged at the beginning of the next year.