Build depthai-ros from source (OAK-D Luxonis DepthAI)

build-and-run.sh

#!/usr/bin/env bash

docker build -t depthai-ros .

docker run \
  --rm \
  -it \
  --privileged \
  -v /dev/bus/usb:/dev/bus/usb \
  --device-cgroup-rule='c 189:* rmw' \
  -e ROS_HOSTNAME=$HOSTNAME \
  --net=host \
  --name depthai-ros \
  depthai-ros

Dockerfile

FROM ros:noetic-ros-core-focal

# Install dependencies for depthai, ros, and build
RUN apt-get update && apt-get install -y \
  build-essential \
  cmake \
  git \
  libjpeg-dev \
  libopencv-dev \
  libpng-dev \
  libsm6 \
  libswscale-dev \
  libtbb-dev \
  libtbb2 \
  libtiff-dev \
  pkg-config \
  python3-rosdep \
  python3-vcstool \
  ros-noetic-catkin \
  sudo \
  wget

# Build a custom version of libusb with --disable-udev
RUN wget https://github.com/libusb/libusb/releases/download/v1.0.24/libusb-1.0.24.tar.bz2
RUN tar xf libusb-1.0.24.tar.bz2
RUN cd libusb-1.0.24 && \
  ./configure --disable-udev && \
  make -j && make install

# Add all users to sudoers so rosdep install can run `sudo apt-get` commands
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers

# Switch to bash so we can use `source`
SHELL ["/bin/bash", "-c"]

# One-time initialization of rosdep
RUN rosdep init

# Create the ubuntu user and ROS1 workspace
RUN useradd -ms /bin/bash ubuntu
RUN adduser ubuntu sudo
USER ubuntu
RUN mkdir -p /home/ubuntu/ros1_ws/src
WORKDIR /home/ubuntu/ros1_ws

# Build depthai-core from source
WORKDIR /home/ubuntu
RUN git clone https://github.com/luxonis/depthai-core.git
WORKDIR /home/ubuntu/depthai-core
RUN git submodule update --init --recursive
RUN cmake -S. -Bbuild -D'BUILD_SHARED_LIBS=ON'
RUN cmake --build build --parallel 4

# Build depthai-ros from source
WORKDIR /home/ubuntu/ros1_ws
RUN rosdep update
RUN wget https://raw.githubusercontent.com/luxonis/depthai-ros/main/underlay.repos
RUN vcs import src < underlay.repos
RUN rosdep install --from-paths src --ignore-src -r -y
RUN source /opt/ros/noetic/setup.bash && catkin_make --cmake-args -D depthai_DIR=/home/ubuntu/depthai-core/build/

CMD source devel/setup.bash && roslaunch depthai_examples stereo_inertial_node.launch

setup.sh

#!/usr/bin/env bash

# Setup udev rules on the host

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
sudo udevadm control --reload-rules && sudo udevadm trigger