Husarion DepthAI

ROS 2 driver for Luxonis OAK-x depth cameras on Husarion robots. Publishes RGB (raw + on-chip H.264 — hardware-encoded, ~0 host CPU) and, when enabled, depth + a point cloud.

Installation

sudo snap install husarion-depthai

sudo /var/snap/husarion-depthai/common/postinstall.sh

sudo snap set husarion-depthai driver.model=OAK-D-PRO

sudo husarion-depthai.start

postinstall.sh connects the interfaces snapd doesn't auto-connect on sideloaded installs. driver.model is required before start (hardware is autodetected; this is validation/cockpit metadata).

Camera settings (sudo snap set husarion-depthai <key>=<value>)

• driver.bitrate (default 3400000) — on-chip H.264 encoder bitrate (bit/s) for the telepresence stream.
• driver.depth=true — adds metric depth + an on-chip H.264 disparity preview. Needs a stereo OAK (rejected on OAK-1/OAK-1-LITE).
• driver.fps (1-60, default 30) — RGB framerate.
• driver.imu=true — enable the IMU, on models that have one.
• driver.ip=<address> — PoE camera's IP address; leave unset for USB.
• driver.ir=true — enable the IR laser dot projector + floodlight (OAK-D-PRO/-W only).
• driver.name — node name / topic prefix.
• driver.pointcloud=true — publishes a /points point cloud (implies depth=true).
• driver.rectify-rgb=false — skip rectification to save CPU (raw image is always published regardless).
• driver.resolution (720P/1080P/4K, default 720P) — RGB resolution.
• driver.startup-delay — USB cold-start delay after a fresh reboot.

Every setting above is checked against the declared camera model — an unsupported combination (e.g. depth on an OAK-1) is rejected immediately with a clear reason, never a silent failure at runtime.

ROS network: ros.namespace, ros.domain-id, ros.transport (udp/shm/udp-lo, fastdds/<name>, cyclonedds/<name>, rmwcycloneddscpp).

Husarion cockpit integration

Installed alongside a rosbot snap, this joins its agent chain automatically and inherits ROS network config (RMW incl. Zenoh, domain, namespace) from the cockpit Manage tab — the Camera card there exposes the same driver.* keys as fields. When chained, don't set ros.transport locally. Sideloaded installs need snap connect husarion-depthai:agent-chain rosbot:agent-chain once.

Full parameter reference, custom camera presets, and architecture notes: see the project README.