Bugfix ros timestamp noetic (#219)

* port fixes
luxonis · Feb 6, 2023 · 086a8a4 · 086a8a4
1 parent ad187b4
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diff --git a/README.md b/README.md
@@ -11,7 +11,7 @@ You can develop your ROS applications in following ways:
   * Use classes provided in `depthai_bridge` to construct your own driver (see `stereo_inertial_node` example on how to do that)
   * Use `depthai_ros_driver` class (currently available on ROS2 Humble & Noetic) to get default experience (see details below on how) 
 
-![](docs/segmentation.gif)
+![](docs/multicam.gif)
 
 
 Supported ROS versions:
@@ -145,8 +145,6 @@ Currently, we provide few examples:
 * `camera.launch` launches camera in RGBD, and NN in spatial (Mobilenet) mode.
 * `rgbd_pcl.launch` launches camera in basic RGBD configuration, doesn't load any NNs. Also loads ROS depth processing nodes for RGBD pointcloud.
 * `example_multicam.launch` launches several cameras at once, each one in different container. Edit the `multicam_example.yaml` config file in `config` directory to change parameters
-
-![](docs/multicam.gif)
 * `example_segmentation.launch` launches camera in RGBD + semantic segmentation (pipeline type=RGBD, nn_type=rgb)
 * `pointcloud.launch` - similar to `rgbd_pcl.launch.py`, but doesn't use RGB component for pointcloud
 * `example_marker_publish.launch` launches `camera.launch.py` + small python node that publishes detected objects as markers/tfs

diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
@@ -1,6 +1,12 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.6.1 (2023-02-01)
+___________
+* Fixed timestamp in SpatialDetector
+* Updated topic names in stereo_inertial_node
+
 2.6.1 (2023-01-11)
 ___________
 * Update docker image building

diff --git a/depthai-ros/CMakeLists.txt b/depthai-ros/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project(depthai-ros VERSION 2.6.1 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.6.2 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 

diff --git a/depthai-ros/package.xml b/depthai-ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai-ros</name>
-  <version>2.6.1</version>
+  <version>2.6.2</version>
   <description>The depthai-ros package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

diff --git a/depthai_bridge/CMakeLists.txt b/depthai_bridge/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 set (CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-project(depthai_bridge VERSION 2.6.1 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.6.2 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

diff --git a/depthai_bridge/package.xml b/depthai_bridge/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_bridge</name>
-  <version>2.6.1</version>
+  <version>2.6.2</version>
   <description>The depthai_bridge package</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

diff --git a/depthai_bridge/src/SpatialDetectionConverter.cpp b/depthai_bridge/src/SpatialDetectionConverter.cpp
@@ -4,7 +4,9 @@ namespace dai {
 namespace ros {
 
 SpatialDetectionConverter::SpatialDetectionConverter(std::string frameName, int width, int height, bool normalized)
-    : _frameName(frameName), _width(width), _height(height), _normalized(normalized), _steadyBaseTime(std::chrono::steady_clock::now()) {}
+    : _frameName(frameName), _width(width), _height(height), _normalized(normalized), _steadyBaseTime(std::chrono::steady_clock::now()) {
+    _rosBaseTime = ::ros::Time::now();
+}
 
 void SpatialDetectionConverter::toRosMsg(std::shared_ptr<dai::SpatialImgDetections> inNetData,
                                          std::deque<SpatialMessages::SpatialDetectionArray>& opDetectionMsgs) {

diff --git a/depthai_examples/CMakeLists.txt b/depthai_examples/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
-project(depthai_examples VERSION 2.6.1 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.6.2 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

diff --git a/depthai_examples/launch/stereo_inertial_node.launch b/depthai_examples/launch/stereo_inertial_node.launch
@@ -129,24 +129,24 @@
         args="load depth_image_proc/point_cloud_xyzrgb nodelet_manager">
         <param name="queue_size"          value="10"/>
 
-        <remap from="rgb/camera_info" to="/stereo_inertial_publisher/color/camera_info"/>
-        <remap from="rgb/image_rect_color" to="/stereo_inertial_publisher/color/image"/>
-        <remap from="depth_registered/image_rect" to="/stereo_inertial_publisher/stereo/image"/>    
-        <remap from="depth_registered/points" to="/stereo_inertial_publisher/stereo/points"/>
+        <remap from="rgb/camera_info" to="stereo_inertial_publisher/color/camera_info"/>
+        <remap from="rgb/image_rect_color" to="stereo_inertial_publisher/color/image"/>
+        <remap from="depth_registered/image_rect" to="stereo_inertial_publisher/stereo/image"/>    
+        <remap from="depth_registered/points" to="stereo_inertial_publisher/stereo/points"/>
     </node>
 
     <node if="$(eval arg('depth_aligned') == false)" pkg="nodelet" type="nodelet" name="depth_image_to_pointcloud"
         args="load depth_image_proc/point_cloud_xyz nodelet_manager">
         <param name="queue_size"          value="10"/>
-        <remap from="camera_info" to="/stereo_inertial_publisher/stereo/camera_info"/>
-        <remap from="image_rect" to="/stereo_inertial_publisher/stereo/image"/>    
-        <remap from="points" to="/stereo_inertial_publisher/stereo/points"/>
+        <remap from="camera_info" to="stereo_inertial_publisher/stereo/camera_info"/>
+        <remap from="image_rect" to="stereo_inertial_publisher/stereo/image"/>    
+        <remap from="points" to="stereo_inertial_publisher/stereo/points"/>
     </node>
 
 
     <node if="$(eval arg('enableMarkerPublish') == true)" type="markerPublisher.py" name="markerPublisher" pkg="depthai_examples">
-        <remap from="spatialDetections" to="/stereo_inertial_publisher/color/yolov4_Spatial_detections"/>
-        <remap from="spatialDetectionMarkers" to="/stereo_inertial_publisher/color/spatialDetectionMarkers"/>
+        <remap from="spatialDetections" to="stereo_inertial_publisher/color/yolov4_Spatial_detections"/>
+        <remap from="spatialDetectionMarkers" to="stereo_inertial_publisher/color/spatialDetectionMarkers"/>
     </node>
 
   <group if="$(eval arg('enableRviz') == true)">

diff --git a/depthai_examples/package.xml b/depthai_examples/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_examples</name>
-  <version>2.6.1</version>
+  <version>2.6.2</version>
   <description>The depthai_examples package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

diff --git a/depthai_ros_driver/cfg/parameters.cfg b/depthai_ros_driver/cfg/parameters.cfg
@@ -90,7 +90,7 @@ camera.add("stereo_i_decimation_filter_decimation_mode", str_t, 0, "Decimation m
 camera.add("stereo_i_depth_filter_size", int_t, 0, "Depth filter size", 5)
 camera.add("stereo_i_depth_preset", str_t, 0, "Depth preset", "HIGH_ACCURACY")
 camera.add("stereo_i_enable_decimation_filter", bool_t, 0, "Enable decimation filter", False)
-camera.add("stereo_i_enable_distoartion_correction", bool_t, 0, "Enable distortion correction", False)
+camera.add("stereo_i_enable_distortion_correction", bool_t, 0, "Enable distortion correction", False)
 camera.add("stereo_i_enable_spatial_filter", bool_t, 0, "Enable spatial filter", False)
 camera.add("stereo_i_enable_temporal_filter", bool_t, 0, "Enable temporal filter", False)
 camera.add("stereo_i_enable_threshold_filter", bool_t, 0, "Enable threshold filter", False)

diff --git a/depthai_ros_driver/package.xml b/depthai_ros_driver/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>depthai_ros_driver</name>
-  <version>2.6.1</version>
+  <version>2.6.2</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

diff --git a/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp b/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp
@@ -69,7 +69,7 @@ void StereoParamHandler::declareParams(ros::NodeHandle node, std::shared_ptr<dai
         config.postProcessing.thresholdFilter.minRange = getParam<int>(node, "i_threshold_filter_min_range");
         config.postProcessing.thresholdFilter.maxRange = getParam<int>(node, "i_threshold_filter_max_range");
     }
-    if(getParam<bool>(node, "i_enable_deciamation_filter")) {
+    if(getParam<bool>(node, "i_enable_decimation_filter")) {
         config.postProcessing.decimationFilter.decimationMode = decimationModeMap.at(getParam<std::string>(node, "i_decimation_filter_decimation_mode"));
         config.postProcessing.decimationFilter.decimationFactor = getParam<int>(node, "i_decimation_filter_decimation_factor");
     }

diff --git a/depthai_ros_msgs/CMakeLists.txt b/depthai_ros_msgs/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project (depthai_ros_msgs VERSION 2.6.1)
+project (depthai_ros_msgs VERSION 2.6.2)
 
 if(POLICY CMP0057)
     cmake_policy(SET CMP0057 NEW)

diff --git a/depthai_ros_msgs/package.xml b/depthai_ros_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_ros_msgs</name>
-  <version>2.6.1</version>
+  <version>2.6.2</version>
   <description>Package to keep interface independent of the driver</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

diff --git a/docs/multicam.gif b/docs/multicam.gif
diff --git a/docs/param_rgb.gif b/docs/param_rgb.gif
diff --git a/docs/rtabmap.gif b/docs/rtabmap.gif
diff --git a/install_dependencies.sh b/install_dependencies.sh