Must have OpenCV version 4.6.0 and NumPy version 1.26.4

Make sure to replace "" with whichever version of ros2 is in use (ex: humble). Install the DepthAI library using the command:

sudo apt install ros-[distro]-depthai-ros

First, connect to OAK-D W using ROS with the following command:

ros2 launch depthai_ros_driver camera.launch.py

Then build and run the package.

To run via pipeline, run the following:

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

And then u must install depthai: to install the dependencies:

sudo wget -qO- https://docs.luxonis.com/install_dependencies.sh | bash

to install actual package:

python3 -m pip install depthai

checklist for progress:

Phase 1: basic prototype(vfh algorithm)

pixel location to angle ✔️ find min value of sectors ✔️ Gap detection ✔️ rudementary ground removal without plane detection (no ransac) ✔️ choosing paths and moving to gnss location Phase 2:

better ground detection using ransac cost function / danger function for concave rock problem terrain classifications and lots and lots of testing :>