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I too would be interested in seeing RGB pointclouds from the OAKD-lite in ROS.
I see this defunct post on the DepthAI github is the about the most recent thing I can find RGB Point Cloud · Issue #10 · luxonis/depthai-ros · GitHub
A few other notes on the topic:
- In this post on the ROS Discourse, someone is creating their own driver, I’m hoping something useful comes of that.
- I spent a while trying to hook in to the launch scripts provided by the
depth_image_procpackage. It doesn’t help that the registration node doesn’t compile (last I checked) but even once you fix that it doesn’t seem to work.
I’ve been working on other stuff, but I definitely want to circle back to this at some point as it seems like a pretty fundamental issue.
Hi,
i cloned this specific git commit, but when im launching the simulation with the depth camera or the normal camera xacro file, im not getting any camera topic…
all my topics are:
/clock
/joint_states
/parameter_events
/performance_metrics
/robot_description
/rosout
/tf
/tf_static
but in gazebo, i see the camera image projected into the air infront of the robot.
furthermore i get no errors when launching the sim:
[INFO] [launch]: All log files can be found below /home/ima-untow/.ros/log/2023-07-20-17-16-55-435963-fast-ima-robotics01-233186
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [233188]
[INFO] [gzserver-2]: process started with pid [233190]
[INFO] [gzclient -3]: process started with pid [233192]
[INFO] [spawn_entity.py-4]: process started with pid [233195]
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link chassis had 3 children
[robot_state_publisher-1] Link camera_link had 1 children
[robot_state_publisher-1] Link camera_link_optical had 0 children
[robot_state_publisher-1] Link caster_wheel had 0 children
[robot_state_publisher-1] Link laser_frame had 0 children
[robot_state_publisher-1] Link left_wheel had 0 children
[robot_state_publisher-1] Link right_wheel had 0 children
[robot_state_publisher-1] [INFO] [1689866215.925509421] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1689866215.925595354] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1689866215.925606660] [robot_state_publisher]: got segment camera_link_optical
[robot_state_publisher-1] [INFO] [1689866215.925613403] [robot_state_publisher]: got segment caster_wheel
[robot_state_publisher-1] [INFO] [1689866215.925619489] [robot_state_publisher]: got segment chassis
[robot_state_publisher-1] [INFO] [1689866215.925625291] [robot_state_publisher]: got segment laser_frame
[robot_state_publisher-1] [INFO] [1689866215.925631109] [robot_state_publisher]: got segment left_wheel
[robot_state_publisher-1] [INFO] [1689866215.925637023] [robot_state_publisher]: got segment right_wheel
[spawn_entity.py-4] [INFO] [1689866216.200542597] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1689866216.200801881] [spawn_entity]: Loading entity published on topic robot_description
[spawn_entity.py-4] [INFO] [1689866216.202133205] [spawn_entity]: Waiting for entity xml on robot_description
[spawn_entity.py-4] [INFO] [1689866216.213847631] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
[spawn_entity.py-4] [INFO] [1689866216.214074483] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1689866216.716878938] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1689866217.566721680] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [my_bot]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 233195]
does anybody have a clue, what the problem might be?
thanks alot 
Hi! I have a problem.
There are no points (no 3D) in RViz2. I opened “PointCloud2” → Stastus: Ok → Points: Showing [0] points from [0] messages. Please, help to solve this problem. I’ve no idea.(((
I checked rqt_graph. n__rviz doesn’t subscribe on /camera/points topic.