README.md

rmf_human_detector_oakd

Requirements

• OAK-D camera- Tested on OAK-D Lite and OAK-D
• depthai-core
• ROS 2- Tested on humble and galactic
• Open-RMF

Setup

Follow the [instructions] to build depthai as a shared library and install it to a location that is a standard library path on your system. See Troubleshooting in case of issues.

Then clone this package into your Open-RMF workspace

git clone https://github.com/open-rmf/rmf_human_detector_oakd.git

Then run rosdep from the root of the workspace folder to install any missing dependencies

rosdep update
rosdep install --from-paths src --ignore-src --ros-distro galactic --skip-keys "depthai" -y

Then build the new package after sourcing the ROS 2 distribution

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to rmf_human_detector_oakd

Troubleshooting

If depthai is not built and installed properly, a number of build and runtime errors may arise. If you're facing issues, try building it following these instructions

cd ~/
git clone https://github.com/luxonis/depthai-core.git
cd depthai-core
git submodule update --init --recursive
cmake -S. -Bbuild -D'BUILD_SHARED_LIBS=ON'
cmake --build build --target install

Next symlink the built shared libraries to /usr/lib/

cd /usr/lib/
sudo ln -s ~/Downloads/depthai-core/build/install/lib/libdepthai-core.so .
sudo ln -s ~/Downloads/depthai-core/build/install/lib/libdepthai-opencv.so .

Then build this package by setting the depthai_DIR flag.

colcon build --packages-up-to rmf_human_detector_oakd --cmake-args -DCMAKE_BUILD_TYPE=Release -Ddepthai_DIR=/home/USER/depthai-core/build/install/lib/cmake/depthai