After pull this package into your own ws, the following command needs to be run in order to work (some necessary depthai libraries for oak camera): sudo apt-get install ros-noetic-depthai-ros
To launch a single camera, run command: roslaunch oak_cameras stereo_inertial_node.launch
For single camera: stereo_inertial_node.launch--->kira_preprocessing.launch--->kira_aruco.launch
With these, we are able to launch a single oak camera and add all point cloud filters except the cam_complementry one (used for multiple cameras). The aruco_code is also added.
To test the launching of multiple cameras, run the command: roslaunch oak_cameras kira_oaks_test.launch
kira_oaks_test.launch--->kira_camera.launch
camera_config.yaml configures the id number of oak_pro and oak_wide cameras