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Validation Checklist

Use this checklist to verify that the Depth Anything 3 ROS2 wrapper is properly installed and functional.

Installation Validation

Prerequisites

  • Ubuntu 22.04 LTS installed
  • ROS2 Humble installed and sourced
  • Python 3.10+ available
  • CUDA 12.x installed (optional, for GPU support)

Dependency Check

# ROS2 packages
dpkg -l | grep ros-humble-cv-bridge
dpkg -l | grep ros-humble-sensor-msgs
dpkg -l | grep ros-humble-image-transport

# Python packages
python3 -c "import torch; print(f'PyTorch: {torch.__version__}')"
python3 -c "import torchvision; print(f'Torchvision: {torchvision.__version__}')"
python3 -c "import transformers; print(f'Transformers: {transformers.__version__}')"
python3 -c "import cv2; print(f'OpenCV: {cv2.__version__}')"
python3 -c "import numpy; print(f'NumPy: {numpy.__version__}')"

# Depth Anything 3
python3 -c "from depth_anything_3.api import DepthAnything3; print('DA3 installed')"

Expected output: All imports should succeed without errors.

Build Validation

  • Package builds without errors
cd ~/ros2_ws
colcon build --packages-select depth_anything_3_ros2
  • No warnings during build
  • Package is found after sourcing
source install/setup.bash
ros2 pkg list | grep depth_anything_3_ros2

Test Validation

  • Unit tests pass
colcon test --packages-select depth_anything_3_ros2
colcon test-result --verbose
  • No test failures
  • Test coverage is adequate

Functionality Validation

Basic Functionality

  • Node starts without errors
ros2 run depth_anything_3_ros2 depth_anything_3_node
  • Model loads successfully (check terminal output)
  • Topics are advertised
ros2 topic list | grep depth_anything_3

Expected topics:

  • /depth_anything_3/depth
  • /depth_anything_3/depth_colored
  • /depth_anything_3/confidence
  • /depth_anything_3/depth/camera_info

Parameter Validation

  • Parameters are listed
ros2 param list /depth_anything_3
  • Parameters can be read
ros2 param get /depth_anything_3 model_name
ros2 param get /depth_anything_3 device

Camera Integration

  • Works with USB camera (v4l2_camera)
# Terminal 1
ros2 run v4l2_camera v4l2_camera_node

# Terminal 2
ros2 launch depth_anything_3_ros2 depth_anything_3.launch.py \
  image_topic:=/image_raw
  • Depth images are published
ros2 topic hz /depth_anything_3/depth
  • Frame rate is reasonable (>1 Hz)

Visualization

  • RViz2 config loads
rviz2 -d $(ros2 pkg prefix depth_anything_3_ros2)/share/depth_anything_3_ros2/rviz/depth_view.rviz
  • Depth visualization displays correctly
  • Colored depth shows reasonable depth gradients
  • No errors in RViz2 console

Performance Validation

GPU Mode (if CUDA available)

  • CUDA device is detected
# Check node output for "Using CUDA device: ..."
ros2 run depth_anything_3_ros2 depth_anything_3_node --ros-args \
  -p device:=cuda -p log_inference_time:=true
  • Inference runs on GPU
# In another terminal, monitor GPU usage
nvidia-smi -l 1

  • GPU memory usage is reasonable:

    • DA3-Small: ~1.5 GB
    • DA3-Base: ~2.5 GB
    • DA3-Large: ~4.0 GB
    • DA3-Giant: ~6.5 GB

  • FPS is within expected range (see README benchmarks)

CPU Fallback

  • CPU mode works
ros2 run depth_anything_3_ros2 depth_anything_3_node --ros-args \
  -p device:=cpu
  • Graceful fallback if CUDA unavailable
  • Inference completes (slower than GPU)

Code Quality Validation

Static Analysis

  • No PEP 8 violations
flake8 depth_anything_3_ros2/ --max-line-length=88
  • Type hints are present
# Check random sample of functions
grep "def.*->" depth_anything_3_ros2/depth_anything_3_ros2/*.py
  • No emojis in code
# This should return nothing
grep -r "[\x{1F600}-\x{1F64F}]" depth_anything_3_ros2/ || echo "No emojis found"

Documentation

  • README is complete
  • All sections filled in
  • Examples are working
  • Credits section present at top
  • Docstrings present in all modules
python3 -c "import depth_anything_3_ros2.da3_inference; help(depth_anything_3_ros2.da3_inference.DA3InferenceWrapper)"

Multi-Camera Validation

  • Multi-camera launch works
ros2 launch depth_anything_3_ros2 multi_camera.launch.py
  • Multiple nodes start
ros2 node list | grep depth_anything_3
  • Topics are namespaced correctly
ros2 topic list | grep depth

Error Handling Validation

Invalid Input Handling

  • Handles missing camera gracefully
# Start node without camera - should not crash
ros2 run depth_anything_3_ros2 depth_anything_3_node
  • Logs appropriate error messages
  • Node stays alive waiting for images

Resource Limits

  • Handles CUDA OOM gracefully
# Try to load model too large for GPU
ros2 run depth_anything_3_ros2 depth_anything_3_node --ros-args \
  -p model_name:=depth-anything/DA3-GIANT -p device:=cuda
  • Error message is clear
  • Suggests fallback options

Invalid Parameters

  • Rejects invalid device
ros2 run depth_anything_3_ros2 depth_anything_3_node --ros-args \
  -p device:=invalid_device
  • Rejects invalid model name
  • Provides helpful error messages

Integration Validation

Different Cameras

Test with at least 2 different camera types:

  • USB camera (v4l2_camera)
  • Test with image_publisher
  • Optionally: ZED, RealSense, or other cameras

Different Image Sizes

  • 640x480 (VGA)
  • 1280x720 (HD)
  • 1920x1080 (Full HD)

Different Encodings

  • BGR8
  • RGB8
  • Conversion between encodings works

Production Readiness Checklist

  • No crashes during normal operation
  • Graceful shutdown on Ctrl+C
  • No memory leaks in long-running test (>30 minutes)
  • Error messages are informative
  • Performance is acceptable for target application
  • All documentation is complete
  • Tests cover critical paths
  • Code follows style guidelines
  • Camera-agnostic design maintained

Deployment Checklist

Before deploying to production:

  • Test with actual target camera
  • Measure performance on target hardware
  • Verify GPU memory fits within limits
  • Test failure scenarios
  • Document any hardware-specific settings
  • Create deployment-specific launch files
  • Test recovery from errors
  • Verify logging is appropriate for production

Sign-off

Validation completed by: ____________________

Date: ____________________

System configuration:

  • OS: ____________________
  • ROS2 Distribution: ____________________
  • GPU: ____________________
  • CUDA Version: ____________________

Notes: __________________________________________________ __________________________________________________ __________________________________________________