OAK-D-S2 URDF description

mblut

I'm working on a VIO application using OAK-D-S2 and using rtabmap_odom. I'm using ROS2 jazzy and the depthai_descriptions package to populate the TF tree inside of the camera.

I noticed that the only two camera models supported by the provided launch file (urdf_launch.py) were OAK-D and OAK-D-LITE. Is the URDF description for the OAK-D-S2 the same as one of those? Is the IMU mounted in the same location/orientation? If not, what's the best way to populate the TF tree for OAK-D-S2?

Relatively new to this stack, so if my approach seems questionable please let me know. Thanks in advance!

OskarSonc

cc @Luxonis-Adam

Luxonis-Adam

Hi, the tooltip is a bit outdated, you can pass different models, OAK-D-PRO should be enough. Although for your case we recommend publishing TF directly from calibration to get the most accurate measurements https://docs.luxonis.com/software/ros/depthai-ros/driver/#DepthAI%20ROS%20Driver-Publishing%20TFs%20from%20extrinsics. Although in general, I would advise to pick Kilted distribution as it has a built-in experimental VIO integration.