In order to extend the Roomba's capabilities we will see whether we can attach the OAK-D LITE Luxonis Camera to the Roomba.

This video can be a helpful tutorial: https://www.youtube.com/watch?v=bXQM9byBA6o

Hardware

To set up your computer and the camera, follow the instructions here: https://docs.luxonis.com/en/latest/pages/tutorials/first_steps/

Connect the camera through USB to the computer, and launch the DepthAI Viewer as an administrator

In this tutorial, we assume you are using a Windows 11 and an OAK-D LITE Luxonis Camera, along with an iRobot Create3.

Software

For general installation, follow this: https://docs.luxonis.com/projects/api/en/latest/install/#windows-10

Currently, we are aiming to follow Luxonis Doc instructions here, for ROS2-Humble. Make sure you are logged into Docker Desktop first.

1. install depthai-ai from source: sudo apt install ros-humble-depthai-r
2. clone the depthai-ros-driver to launch the camera and its app: https://github.com/luxonis/depthai-ros.git

Now follow this: https://docs-beta.luxonis.com/software/ros/depthai-ros/driver/

Next Steps

• Create a mount for the camera and PI's

• Get data from camera to ROS2 system