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Luxonis OAK-D

Item Numbers​

DescriptionCPR ItemSales KitInstallation Kit, With Fasteners
Luxonis OAK-D Pro025961
Luxonis OAK-D Lite025963
Luxonis OAK-D Pro W PoE028065032195

Software Bringup​

This sensor is included in the Clearpath Robotics robot package that is installed on all of our robots. This allows you to add or remove the sensor from your robot's software description by modifying the robot configuration yaml.

camera:
- model: luxonis_oakd
  urdf_enabled: true
  launch_enabled: true
  parent: top_plate_front_mount
  xyz: [0.0, 0.0, 0.0]
  rpy: [0.0, 0.0, 0.0]
  ros_parameters:
    oakd:
      device_type: pro
      camera:
        i_enable_imu: false
        i_enable_ir: false
        i_floodlight_brightness: 0
        i_ip: ''
        i_laser_dot_brightness: 100
        i_mx_id: ''
        i_nn_type: none
        i_pipeline_type: RGB
        i_usb_speed: SUPER_PLUS
        i_usb_port_id: ''
      rgb:
        i_board_socket_id: 0
        i_fps: 30.0
        i_height: 720
        i_interleaved: false
        i_max_q_size: 10
        i_preview_size: 250
        i_enable_preview: true
        i_low_bandwidth: true
        i_keep_preview_aspect_ratio: true
        i_publish_topic: false
        i_resolution: '1080P'
        i_width: 1280

Package and Setup​

Luxonis OAK-D cameras use the depthai_ros_driver ROS 2 driver. The driver is open-source, maintained by Luxonis, and hosted on GitHub. This package and its dependencies are installed alongside the clearpath_sensors package.

For specifics on the way Clearpath's configuration system launches the camera, see the Luxonis OAK-D launch file and the default parameter file in clearpath_sensors.

Device Type​

The device_type parameter specified what specific model of OAK-D camera is used. Supported types are:

Multiple Cameras​

If you have multiple OAK-D cameras configured, you must specify either the camera.i_mx_id (for USB cameras) or the camera.i_ip parameter (for ethernet/PoE cameras).

See Luxonis' documentation for instructions on how to determine your camera's IP address or MxId.

Troubleshooting​

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: <support@clearpathrobotics.com>.

To get in touch with a salesperson regarding Clearpath Robotics products, please email <research-sales@clearpathrobotics.com>.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on Robotics Stack Exchange. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer on Robotics Stack Exchange for the benefit of the community.

Further Reading​

  1. Clearpath Robotics Store
  2. Luxonis Website
  3. ROS driver
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