Add Depthai support

docs/tutorial-depthai.md

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+# Tutorial for Visual SLAM using a Depthai OAK Camera
+
+
+## Overview
+
+This tutorial walks you through setting up [Isaac ROS Visual SLAM](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam) with a [Luxonis OAK camera](https://www.luxonis.com/).
+
+
+## Tutorial Walkthrough - VSLAM execution
+
+Most of the steps overlap with [Realsense setup](./tutorial-realsense.md). Main differences include setting up Docker image for use with the cameras.
+
+1. Clone this repository and its dependencies under `${ISAAC_ROS_WS}/src`.
+
+    ```bash
+    cd ${ISAAC_ROS_WS}/src
+    git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam
+    git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common
+    git clone https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros
+    ```
+2. Clone `depthai` and `xacro` repositories to the workspace
+
+    ```bash
+    cd ${ISAAC_ROS_WS}/src
+    git clone --branch ros-release https://github.com/luxonis/depthai-core
+    git clone --branch humble https://github.com/luxonis/depthai-ros
+    git clone --branch ros2 https://github.com/ros/xacro
+    ```
+3. Setup udev rules on host
+
+    ```bash
+    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
+    ```
+
+4. Setup configuration for docker creation
+
+    ```bash
+    cd ${ISAAC_ROS_WS}/src/isaac_ros_common/scripts && \
+    touch .isaac_ros_common-config && \
+    echo CONFIG_IMAGE_KEY=ros2_humble.depthai > .isaac_ros_common-config && \
+    touch .isaac_ros_dev-dockerargs && \
+    echo "-v /dev/bus/usb:/dev/bus/usb" > .isaac_ros_dev-dockerargs
+    ```
+5. Run the docker image
+
+    ```bash
+        isaac_ros_container
+    ```
+
+    > Or if you did not add the command in [step 1-3 of the quickstart section](../README.md#quickstart):
+    >
+    > ```bash
+    > cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
+    >   ./scripts/run_dev.sh ${ISAAC_ROS_WS}
+    > ```
+
+5. When inside the container, build the workspace:
+
+    ```bash
+        cd /workspaces/isaac_ros-dev && \
+      colcon build --symlink-install && \
+      source install/setup.bash
+    ```
+
+6. Run launch file for the camera
+
+    ```bash
+        ros2 launch isaac_ros_visual_slam isaac_ros_visual_slam_depthai.launch.py
+    ```
+
+7. `depthai-ros-driver` allows for a large amount of customization using parameters. Example parameters can be found in `isaac_ros_visual_slam/params.depthai.yaml`

isaac_ros_visual_slam/launch/isaac_ros_visual_slam_depthai.launch.py

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+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import launch
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.descriptions import ComposableNode
+def generate_launch_description():
+    """Launch file which brings up visual slam node configured for OAK."""
+
+    depthai_prefix = get_package_share_directory('depthai_ros_driver')
+    nvidia_slam_prefix = get_package_share_directory('isaac_ros_visual_slam')
+    params_file = os.path.join(nvidia_slam_prefix, 'params', 'depthai.yaml')
+
+    depthai = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(depthai_prefix, 'launch', 'camera.launch.py')),
+            launch_arguments={"name": 'oak',
+                              "params_file": params_file,
+                               }.items())
+
+    visual_slam_node = ComposableNode(
+        name='visual_slam_node',
+        package='isaac_ros_visual_slam',
+        plugin='isaac_ros::visual_slam::VisualSlamNode',
+        parameters=[{
+                    'denoise_input_images': False,
+                    'rectified_images': True,
+                    'enable_debug_mode': False,
+                    'debug_dump_path': '/tmp/cuvslam',
+                    'enable_slam_visualization': True,
+                    'enable_landmarks_view': True,
+                    'enable_observations_view': True,
+                    'map_frame': 'map',
+                    'odom_frame': 'odom',
+                    'base_frame': 'oak-d-base-frame',
+                    'input_imu_frame': 'oak_imu_frame',
+                    'enable_imu_fusion': True,
+                    'gyro_noise_density': 0.9084722604427307 ,
+                    'gyro_random_walk': 0.3189056080587463 ,
+                    'accel_noise_density': 4.072394996046438 ,
+                    'accel_random_walk': 1.9007919574432275 ,
+                    'calibration_frequency': 100.0,
+                    'img_jitter_threshold_ms': 22.00
+                    }],
+        remappings=[('stereo_camera/left/image', '/oak/left/image_rect'),
+                    ('stereo_camera/left/camera_info', '/oak/left/camera_info'),
+                    ('stereo_camera/right/image', '/oak/right/image_rect'),
+                    ('stereo_camera/right/camera_info', '/oak/right/camera_info'),
+                    ('visual_slam/imu', '/oak/imu/data')]
+    )
+
+    visual_slam_launch_container = ComposableNodeContainer(
+        name='visual_slam_launch_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            visual_slam_node
+        ],
+        output='screen'
+    )
+
+    return launch.LaunchDescription([visual_slam_launch_container, depthai])

isaac_ros_visual_slam/params/depthai.yaml

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+/oak:
+  ros__parameters:
+    camera:
+      i_enable_imu: true
+      i_enable_ir: false
+      i_pipeline_type: depth
+      i_publish_tf_from_calibration: true
+    stereo:
+      i_publish_topic: false
+      i_reverse_stereo_socket_order: true
+      i_publish_synced_rect_pair: true
+      i_update_ros_base_time_on_ros_msg: true
+    left:
+      i_resolution: '400'
+      i_fps: 90.0
+    right:
+      i_resolution: '400'
+      i_fps: 90.0