# oak_ffc_4p_ros

**Repository Path**: zhanghao132/oak_ffc_4p_ros

## Basic Information

- **Project Name**: oak_ffc_4p_ros
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-09-13
- **Last Updated**: 2025-09-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

This is the updated version of OAK-FFC-4P ROS1 wrapper.
This driver is designed for [OmniNxt](https://github.com/HKUST-Aerial-Robotics/OmniNxt)


### How to use
```shell
git clone https://github.com/D2SLAM-Fusion/oak_ffc_4p_ros.git
```

 **Compile Docker images**

```shell
cd ./oak_ffc_4p_ros/docker
make
```

**Create Docker container and build the ROS wrapper in container**

```shell
cd ./oak_ffc_4p_ros
./start_docker.sh 1
### Build ROS wrapper
catkin build
```

**Start ROS wrapper Node **

```shell
source ./devel/setup.bash 
roslaunch oak_ffc_4p_ros OV9782.launch 
```



### Configurations

### sharpness_calibration_mode 

```shell
roslaunch oak_ffc_4p_ros OV9782.launch sharpness_calibration_mode:=true
```

e.g 

![image-20240627163035712](https://raw.githubusercontent.com/Peize-Liu/my-images/master/202406271630345.png)

### Normal_mode : send all image together with one topic

```
roslaunch oak_ffc_4p_ros OV9782.launch
```

![image-20240627163209926](https://raw.githubusercontent.com/Peize-Liu/my-images/master/202406271632004.png)