IR sensor support with ROS for OakD Pro camera

NIHAL

As the title states, Is there a way to use the IR dot projector when using the oakd pro cameras with the ROS wrapper.
I ran the IR sensor using the y-connector and running the depthai_demo.py script. But, I wish to have or manipulate the IR sensor from the ROS framework.

Luxonis-Adam

Hi, if you use stereo_inertial_node from depthai-ros, you can set IR node via ROS parameters.

NIHAL

These are the parameters that I have set as true, but when i do launch it, I dont see the red light from the IR.
<arg name="enableDotProjector" default="true"/>
<arg name="enableFloodLight" default="true"/>
<arg name="dotProjectormA" default="200.0"/>
<arg name="floodLightmA" default="200.0"/>
<arg name="enableRviz" default="true"/>
<arg name="enableMarkerPublish" default="true" />

Is there a more reliable way to check if the IR is enabled?

Luxonis-Adam

Hi, sorry for the late reply. It seems depthai_examples apt packages are not updated yet. Best solution for now would be to clone & build depthai-ros repository to use the latest version. Also, we're working on a new node which will allow controlling of IR parameters in runtime, you can follow PR here to see current progress (should work without problems but there are some features that are actively ported).