update: oakd

docker-compose.yaml

@@ -382,4 +382,19 @@ services:
     environment:
       - ROS_DOMAIN_ID=5
       - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-      - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
+      - ROS_MASTER_URI=http://localhost:11311 # is configured to run roscore on the robot but could change to local ros1 machine here
+
+  
+  # ROS2 oak-d-lite camera
+  oakd:
+    extends: overlay
+    command: >
+      ros2 launch depthai_examples stereo.launch.py
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    #network_mode: host
+    ipc: host
+    environment:
+      - ROS_DOMAIN_ID=5
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

docker/Dockerfile

@@ -85,7 +85,7 @@ RUN vcs import < overlay.repos
 
 WORKDIR /overlay_ws
 
-RUN echo "update overlay 22.08.2023"
+RUN echo "update overlay 18.09.2023"
 
 RUN source /rmp_ws/install/setup.bash \
   && apt-get update \

overlay.repos

@@ -13,4 +13,9 @@ repositories:
   ros2-exploration:
     type: git
     url: https://github.com/robo-friends/m-explore-ros2.git
-    version: feature/slam_toolbox_compat
+    version: feature/slam_toolbox_compat
+
+  oak-d-lite:
+    type: git
+    url: https://github.com/luxonis/depthai-ros
+    version: humble