Code for my dog-chasing robot.

• Raspberry Pi running Ubuntu
• Luxonis Oak-D camera
• 3x Sonar sensors
• Some sort of chassis - I am using a modified version of this: https://www.instructables.com/FPV-Rover-V20/

• Ubuntu
• ROS noetic
• Install the Luxonis ros package: https://github.com/luxonis/depthai-ros
• you need ros-i2cpwmboard package: https://gitlab.com/bradanlane/ros-i2cpwmboard
• Install Foxglove studio bridge (if you want to see the data) sudo apt install ros-noetic-foxglove-bridge
• I use a USB joystick - if you don't want to use this then you could change the launch file for a keyboard

• make sure all the things are plugged in 😄
• fire up the ROS master (separate terminal) roscore
• run the src/setup.bash file
• export ROS_IP=raspberry_pi_IP
• foxglove available on ws://192.168.1.95:8765 or other IP

Record a ROS bag file with all topics:

rosbag record -a

Pull out images from ROS bag file:

rosrun image_view extract_images _sec_per_frame:=0.1 image:=/object_tracker/rgb_image