CLEARPATH Turtlebot4 User Manual page 57

OAK-D
Connecting
The OAK-D cameras are connected to the Raspberry Pi with a USB-C to USB-A cable. The
cameras requires high data throughput so using a USB 3.0 port is highly recommended.
Installing
The OAK-D drivers are installed by default on all TurtleBot 4's. To manually install, follow the
instructions on the DepthAI ROS github.
Running
The default node used by the TurtleBot 4 can be launched:
ros2 launch turtlebot4_bringup oakd.launch.py
Other nodes are available in the DepthAI ROS examples package.
For example:
ros2 launch depthai_examples mobile_publisher.launch.py
AI examples are available on the DepthAI github. To view the images from these examples you
will need to ssh into the robot with a -X flag.
ssh ubuntu@192.168.0.15 -X
Create® 3
The Create® 3 comes with several sensors for safety, object detection, and odometry. For more
information on the physical location of the sensors, read the Create® 3 Hardware Overview.
Hazards detected by the robot are published to the /hazard_detection topic, although some
sensors also have their own individual topics
Cliff