https://github.com/grupo-avispa/depth_anything_v2_ros2
ROS2 Wrapper for DepthAnything V2 model.
https://github.com/grupo-avispa/depth_anything_v2_ros2
depth depth-anything depth-estimation metric-depth-estimation monocular-depth-estimation perception ros ros2
Last synced: about 1 month ago
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ROS2 Wrapper for DepthAnything V2 model.
- Host: GitHub
- URL: https://github.com/grupo-avispa/depth_anything_v2_ros2
- Owner: grupo-avispa
- License: apache-2.0
- Created: 2024-06-24T07:41:48.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2025-11-11T11:49:41.000Z (7 months ago)
- Last Synced: 2025-11-11T13:19:21.182Z (7 months ago)
- Topics: depth, depth-anything, depth-estimation, metric-depth-estimation, monocular-depth-estimation, perception, ros, ros2
- Language: Python
- Homepage:
- Size: 1.12 MB
- Stars: 130
- Watchers: 7
- Forks: 12
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# depth_anything_v2_ros2
[](https://opensource.org/licenses/Apache-2.0)
[](https://github.com/grupo-avispa/depth_anything_v2_ros2/actions/workflows/build.yml)
## Overview
This package is a ROS2 wrapper for the [depth_anything_v2](https://github.com/DepthAnything/Depth-Anything-V2) library. It provides a ROS2 node that subscribes to a camera topic and publishes the depth map of the scene.
| *RGB* | *Depth* |
| :-----------------: | :---------------------: |
|  |  |
The depth_anything_v2_ros2 package has been tested under [ROS2] jazzy on [Ubuntu] 22.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
## Installation
### Building from Source
#### Dependencies
- [Robot Operating System (ROS) 2](https://docs.ros.org/en/jazzy/) (middleware for robotics),
- [depth_anything_v2](https://github.com/DepthAnything/Depth-Anything-V2) (library for depth estimation),
- [torch](https://pytorch.org/) (deep learning framework)
#### Building
To build from source, clone the latest version from the main repository into your colcon workspace and install the python dependencies by running the following commands:
```bash
cd colcon_workspace/src
git clone --recurse-submodules https://github.com/grupo-avispa/depth_anything_v2_ros2.git -b main
pip3 install -r requirements.txt
```
Before building, make sure to download the depth_anything_v2 model weights and place them in the `models` directory. You can download them [here](https://huggingface.co/depth-anything).
Then, install the ROS2 dependencies using rosdep and build the package using:
```bash
cd colcon_workspace
rosdep install -i --from-path src --rosdistro jazzy -y
colcon build --symlink-install
```
## Usage
With some RGB image source running, run the depth_anything_v2_ros2 node with:
```bash
ros2 launch depth_anything_v2_ros2 default.launch.py
```
## Nodes
### depth_anything
This node subscribes to a camera topic and publishes the depth map of the scene.
#### Subscribed Topics
* **`camera/color/image_raw`** ([sensor_msgs/Image])
The RGB image topic.
#### Published Topics
* **`depth`** ([sensor_msgs/Image])
The depth map estimated of the scene.
#### Parameters
* **`image_topic`** (string, default: "camera/color/image_raw")
Topic where the image will be subscribed.
* **`depth_image_topic`** (string, default: "depth")
Topic where the raw depth image will be published.
* **`device`** (string, default: "cuda:0")
Device to use for the inference (`cpu` or `cuda`).
* **`model_file`** (string, default: "depth_anything_v2_vits.pth")
Path to the model, located in the `models` directory.
* **`encoder`** (string, default: "vits")
Encoder to use for the inference (`vits`, `vitb` or `vitl`).
[Ubuntu]: https://ubuntu.com/
[ROS2]: https://docs.ros.org/en/jazzy/
[sensor_msgs/Image]: https://docs.ros2.org/jazzy/api/sensor_msgs/msg/Image.html