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Iron 2.10.1 (#594)
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‎.github/workflows/main.workflow.yml

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- galactic
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- foxy
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- iron
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- jazzy
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tags:
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- 'v*'
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pull_request:
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- galactic
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- foxy
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- iron
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- jazzy
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env:
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ROS_DISTRO: iron
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‎depthai-ros/CHANGELOG.rst

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@@ -4,9 +4,15 @@ Changelog for package depthai-ros
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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
@@ -22,13 +28,6 @@ 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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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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<?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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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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<?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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@@ -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_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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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/include/depthai_filters/feature_tracker_overlay.hpp

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#pragma once
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#include "cv_bridge/cv_bridge.h"
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#include "cv_bridge/cv_bridge.hpp"
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#include "depthai_ros_msgs/msg/tracked_features.hpp"
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#include "geometry_msgs/msg/point.hpp"
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#include "message_filters/subscriber.h"

‎depthai_filters/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_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_filters/src/feature_tracker_overlay.cpp

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#include "depthai_filters/feature_tracker_overlay.hpp"
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#include "cv_bridge/cv_bridge.h"
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#include "cv_bridge/cv_bridge.hpp"
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#include "depthai_filters/utils.hpp"
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namespace depthai_filters {

‎depthai_filters/src/features_3d.cpp

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#include "depthai_filters/features_3d.hpp"
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#include "cv_bridge/cv_bridge.h"
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#include "cv_bridge/cv_bridge.hpp"
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#include "depthai_filters/utils.hpp"
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#include "geometry_msgs/msg/point32.hpp"
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#include "opencv2/opencv.hpp"

‎depthai_filters/src/spatial_bb.cpp

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#include "depthai_filters/spatial_bb.hpp"
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#include "cv_bridge/cv_bridge.h"
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#include "cv_bridge/cv_bridge.hpp"
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#include "depthai_filters/utils.hpp"
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#include "geometry_msgs/msg/point32.hpp"
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#include "opencv2/opencv.hpp"

‎depthai_ros_driver/CMakeLists.txt

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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/include/depthai_ros_driver/dai_nodes/nn/segmentation.hpp

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#include <string>
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#include <vector>
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7-
#include "cv_bridge/cv_bridge.h"
7+
#include "cv_bridge/cv_bridge.hpp"
88
#include "depthai-shared/common/CameraBoardSocket.hpp"
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#include "depthai_ros_driver/dai_nodes/base_node.hpp"
1010
#include "image_transport/camera_publisher.hpp"

‎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>
5-
<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
1515
startTimer = this->create_wall_timer(std::chrono::seconds(1), [this]() {
1616
ph = std::make_unique<param_handlers::CameraParamHandler>(shared_from_this(), "camera");
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ph->declareParams();
18-
onConfigure();
18+
start();
1919
startTimer->cancel();
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});
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rclcpp::on_shutdown([this]() { stop(); });
@@ -76,11 +76,20 @@ void Camera::diagCB(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg)
7676
}
7777

7878
void Camera::start() {
79-
RCLCPP_INFO(get_logger(), "Starting camera.");
80-
if(!camRunning) {
81-
onConfigure();
82-
} else {
83-
RCLCPP_INFO(get_logger(), "Camera already running!.");
79+
bool success = false;
80+
while(!success) {
81+
try {
82+
RCLCPP_INFO(this->get_logger(), "Starting camera.");
83+
if(!camRunning) {
84+
onConfigure();
85+
} else {
86+
RCLCPP_INFO(this->get_logger(), "Camera already running!.");
87+
}
88+
success = true;
89+
} catch(const std::exception& e) {
90+
RCLCPP_ERROR(this->get_logger(), "Exception occurred: %s. Retry", e.what());
91+
camRunning = false;
92+
}
8493
}
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}
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‎depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp

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185185
} else {
186186
ffmpegPub->publish(std::move(img->ffmpegPacket));
187187
}
188+
infoPub->publish(std::move(img->info));
188189
} else {
189190
if(ipcEnabled && (!pubConfig.lazyPub || detectSubscription(imgPub, infoPub))) {
190191
imgPub->publish(std::move(img->image));

‎depthai_ros_driver/src/param_handlers/tof_param_handler.cpp

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ToFParamHandler::~ToFParamHandler() = default;
2020
void ToFParamHandler::declareParams(std::shared_ptr<dai::node::Camera> cam, std::shared_ptr<dai::node::ToF> tof) {
2121
declareAndLogParam<bool>("i_publish_topic", true);
22-
declareAndLogParam<bool>("i_synced", true);
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declareAndLogParam<bool>("i_synced", false);
2323
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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