{"id":28418885,"url":"https://github.com/engcang/oakd-ros-simple","last_synced_at":"2026-03-14T16:36:48.372Z","repository":{"id":65905227,"uuid":"402851810","full_name":"engcang/oakd-ros-simple","owner":"engcang","description":"OAK-D (OpenCV AI Kit camera) ROS simple codes with C++","archived":false,"fork":false,"pushed_at":"2024-01-12T19:13:27.000Z","size":11176,"stargazers_count":40,"open_issues_count":0,"forks_count":10,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-06-04T19:30:45.536Z","etag":null,"topics":["opencv","ros"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/engcang.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2021-09-03T17:38:25.000Z","updated_at":"2025-03-01T04:09:54.000Z","dependencies_parsed_at":"2023-02-15T14:31:56.075Z","dependency_job_id":"7ec6d79e-f39c-48d8-81b0-cc9ccc125084","html_url":"https://github.com/engcang/oakd-ros-simple","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/engcang/oakd-ros-simple","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2Foakd-ros-simple","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2Foakd-ros-simple/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2Foakd-ros-simple/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2Foakd-ros-simple/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/engcang","download_url":"https://codeload.github.com/engcang/oakd-ros-simple/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/engcang%2Foakd-ros-simple/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":261955957,"owners_count":23235983,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["opencv","ros"],"created_at":"2025-06-04T13:20:45.095Z","updated_at":"2025-10-14T17:46:09.214Z","avatar_url":"https://github.com/engcang.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# OAK-D ROS Simple\n+ OAK-D (OpenCV AI Kit camera) ROS simple codes with C++ for myself\n+ Edited the original `depthai-ros-examples` repo from official manufacturer - [link](https://github.com/luxonis/depthai-ros-examples)\n+ Supports: OAK-D, OAK-D Lite, OAK-D PRO\n\n\u003cbr\u003e\n\n### Check the result video\n#### Video1: [OAKD, OAKD-Lite, D435i](https://youtu.be/0Wla_efIOn0)\n#### Video2: [OAKD-PRO, OAKD-Lite, D435i](https://youtu.be/t-4HMUlV5pQ)\n#### Video3: [OAK-D Pro depth after filter parameters got tuned](https://youtu.be/I4n7haVlMug)\n\n  \u003cp align=\"left\"\u003e\n  \u003cimg src=\"pcl.png\" width=\"400\"/\u003e\n  \u003c/p\u003e\n  \n\u003cbr\u003e\n\u003cbr\u003e\n\n## Dependencies\n+ `pcl`\n+ `OpenCV`, `cv_bridge`: manual install? refer here [`OpenCV`](https://github.com/engcang/vins-application#-opencv-with-cuda-necessary-for-gpu-version-1), [`cv_bridge`](https://github.com/engcang/vins-application#-cv_bridge-with-built-opencv-necessary-for-whom-built-opencv-manually-from-above)\n+ `usb-1.0-0-dev`\n~~~shell\n$ sudo apt install libusb-1.0-0-dev\n~~~\n\n\u003cbr\u003e \n\n## How to install\n\n+ Git clone and install `depthai-core` first\n\n```shell\n$ cd ~/\u003cyour_workspace\u003e/src\n$ git clone --recursive git@github.com:engcang/oakd-ros-simple\n\n$ rm -r ~/.hunter\n\n$ cd oakd-ros-simple/depthai-core\n$ mkdir build \u0026\u0026 cd build\n$ cmake .. -DBUILD_SHARED_LIBS=ON\n\n$ make install\n\n$ echo 'SUBSYSTEM==\"usb\", ATTRS{idVendor}==\"03e7\", MODE=\"0666\"' | sudo tee /etc/udev/rules.d/80-movidius.rules \\n\n$ sudo udevadm control --reload-rules \u0026\u0026 sudo udevadm trigger\n```\n\n+ Build this repo\n\n```shell\n$ cd ~/your_workspace (check directory)\n\n$ catkin build -Ddepthai_DIR=\u003cyour_workspace\u003e/src/oakd-ros-simple/depthai-core/build/install/lib/cmake/depthai\n\nor\n\n$ catkin config -Ddepthai_DIR=\u003cyour_workspace\u003e/src/oakd-ros-simple/depthai-core/build/install/lib/cmake/depthai\n$ catkin build\n```\n\n\u003cbr\u003e \n\n## How to run\n\n+ Change the parameters in the `.launch` file.\n~~~shell\n$ roscore\n$ roscd oakd_ros \u0026\u0026 rviz -d rviz.rviz\n$ roslaunch oakd_ros main.launch\n~~~\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fengcang%2Foakd-ros-simple","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fengcang%2Foakd-ros-simple","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fengcang%2Foakd-ros-simple/lists"}