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Humble 2.10.1 (#593)
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‎depthai-ros/CHANGELOG.rst

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Changelog for package depthai-ros
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.10.1 (2024-09-18)
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-------------------
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* Fix ToF synced publishing
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* Add camera_info publishing when publishing compressed images
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* Catch errors when starting the device
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2.10.0 (2024-08-29)
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-------------------
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## What's Changed
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* Adding stl files for SR and LR models by @danilo-pejovic in https://github.com/luxonis/depthai-ros/pull/491
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* No imu fix Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/500
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* Tracking converter for ROS2 Humble by @daniqsilva25 in https://github.com/luxonis/depthai-ros/pull/505
@@ -20,13 +25,6 @@ Changelog for package depthai-ros
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* WLS fix humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/582
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* Syncing & RS updates Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/586
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## New Contributors
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* @r4hul77 made their first contribution in https://github.com/luxonis/depthai-ros/pull/507
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* @Nibanovic made their first contribution in https://github.com/luxonis/depthai-ros/pull/511
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* @destogl made their first contribution in https://github.com/luxonis/depthai-ros/pull/524
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**Full Changelog**: https://github.com/luxonis/depthai-ros/compare/v2.9.0-humble...v2.10.0-humble
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2.9.0 (2024-01-24)
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-------------------
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‎depthai-ros/CMakeLists.txt

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@@ -1,6 +1,6 @@
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cmake_minimum_required(VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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project(depthai-ros VERSION 2.10.0 LANGUAGES CXX C)
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project(depthai-ros VERSION 2.10.1 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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‎depthai-ros/package.xml

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@@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<package format="3">
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<name>depthai-ros</name>
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<version>2.10.0</version>
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<version>2.10.1</version>
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<description>The depthai-ros package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->

‎depthai_bridge/CMakeLists.txt

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@@ -1,7 +1,7 @@
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cmake_minimum_required(VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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project(depthai_bridge VERSION 2.10.0 LANGUAGES CXX C)
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project(depthai_bridge VERSION 2.10.1 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)

‎depthai_bridge/package.xml

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@@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_bridge</name>
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<version>2.10.0</version>
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<version>2.10.1</version>
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<description>The depthai_bridge package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

‎depthai_descriptions/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.8)
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project(depthai_descriptions VERSION 2.10.0)
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project(depthai_descriptions VERSION 2.10.1)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)

‎depthai_descriptions/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_descriptions</name>
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<version>2.10.0</version>
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<version>2.10.1</version>
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<description>The depthai_descriptions package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

‎depthai_examples/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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project(depthai_examples VERSION 2.10.0 LANGUAGES CXX C)
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project(depthai_examples VERSION 2.10.1 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)

‎depthai_examples/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_examples</name>
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<version>2.10.0</version>
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<version>2.10.1</version>
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<description>The depthai_examples package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->

‎depthai_filters/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.8)
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project(depthai_filters VERSION 2.10.0 LANGUAGES CXX C)
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project(depthai_filters VERSION 2.10.1 LANGUAGES CXX C)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)

‎depthai_filters/package.xml

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@@ -2,7 +2,7 @@
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>depthai_filters</name>
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<version>2.10.0</version>
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<version>2.10.1</version>
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<description>Depthai filters package</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>
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<license>MIT</license>

‎depthai_ros_driver/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.22)
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project(depthai_ros_driver VERSION 2.10.0)
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project(depthai_ros_driver VERSION 2.10.1)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_BUILD_SHARED_LIBS ON)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

‎depthai_ros_driver/config/sr_poe_rgbd.yaml

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@@ -6,5 +6,10 @@
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i_enable_ir: false
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i_nn_type: none
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i_pipeline_type: rgbtof
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pipeline_gen:
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i_enable_sync: true
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right:
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i_low_bandwidth: true
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i_synced: true
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tof:
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i_synced: true

‎depthai_ros_driver/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>depthai_ros_driver</name>
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<version>2.10.0</version>
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<version>2.10.1</version>
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<description>Depthai ROS Monolithic node.</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>
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‎depthai_ros_driver/src/camera.cpp

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@@ -15,7 +15,7 @@ Camera::Camera(const rclcpp::NodeOptions& options) : rclcpp::Node("camera", opti
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startTimer = this->create_wall_timer(std::chrono::seconds(1), [this]() {
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ph = std::make_unique<param_handlers::CameraParamHandler>(shared_from_this(), "camera");
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ph->declareParams();
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onConfigure();
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start();
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startTimer->cancel();
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});
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rclcpp::on_shutdown([this]() { stop(); });
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}
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void Camera::start() {
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RCLCPP_INFO(get_logger(), "Starting camera.");
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if(!camRunning) {
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onConfigure();
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} else {
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RCLCPP_INFO(get_logger(), "Camera already running!.");
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bool success = false;
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while(!success) {
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try {
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RCLCPP_INFO(this->get_logger(), "Starting camera.");
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if(!camRunning) {
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onConfigure();
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} else {
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RCLCPP_INFO(this->get_logger(), "Camera already running!.");
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}
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success = true;
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} catch(const std::exception& e) {
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RCLCPP_ERROR(this->get_logger(), "Exception occurred: %s. Retry", e.what());
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camRunning = false;
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}
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}
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}
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‎depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp

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@@ -185,6 +185,7 @@ void ImagePublisher::publish(std::shared_ptr<Image> img) {
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} else {
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ffmpegPub->publish(std::move(img->ffmpegPacket));
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}
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infoPub->publish(std::move(img->info));
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} else {
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if(ipcEnabled && (!pubConfig.lazyPub || detectSubscription(imgPub, infoPub))) {
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imgPub->publish(std::move(img->image));

‎depthai_ros_driver/src/param_handlers/tof_param_handler.cpp

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@@ -19,7 +19,7 @@ ToFParamHandler::ToFParamHandler(std::shared_ptr<rclcpp::Node> node, const std::
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ToFParamHandler::~ToFParamHandler() = default;
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void ToFParamHandler::declareParams(std::shared_ptr<dai::node::Camera> cam, std::shared_ptr<dai::node::ToF> tof) {
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declareAndLogParam<bool>("i_publish_topic", true);
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declareAndLogParam<bool>("i_synced", true);
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declareAndLogParam<bool>("i_synced", false);
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declareAndLogParam<bool>("i_low_bandwidth", false);
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declareAndLogParam<int>("i_low_bandwidth_profile", 4);
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declareAndLogParam<int>("i_low_bandwidth_bitrate", 0);

‎depthai_ros_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS
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project(depthai_ros_msgs VERSION 2.10.0)
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project(depthai_ros_msgs VERSION 2.10.1)
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if(POLICY CMP0057)
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cmake_policy(SET CMP0057 NEW)

‎depthai_ros_msgs/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>depthai_ros_msgs</name>
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<version>2.10.0</version>
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<version>2.10.1</version>
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<description>Package to keep interface independent of the driver</description>
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<maintainer email="[email protected]">Adam Serafin</maintainer>

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