iron updates

.github/workflows/main.workflow.yml

@@ -9,6 +9,7 @@ on:
       - humble
       - galactic
       - foxy
+      - iron
     tags:
       - 'v*'
   pull_request:
@@ -17,8 +18,9 @@ on:
       - humble
       - galactic
       - foxy
+      - iron
 env:
-  ROS_DISTRO: humble
+  ROS_DISTRO: iron
 
 jobs:
   clang-format-lint:

Dockerfile

@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=humble
+ARG ROS_DISTRO=iron
 FROM ros:${ROS_DISTRO}-ros-base
 ARG USE_RVIZ
 ARG BUILD_SEQUENTIAL=0

README.md

@@ -17,6 +17,7 @@ You can develop your ROS applications in following ways:
 Supported ROS versions:
 - Noetic
 - Humble
+- Iron
 
 For usage check out respective git branches.
 

depthai_bridge/src/ImgDetectionConverter.cpp

@@ -55,21 +55,11 @@ void ImgDetectionConverter::toRosMsg(std::shared_ptr<dai::ImgDetections> inNetDa
 
         opDetectionMsg.detections[i].results.resize(1);
 
-#if defined(IS_GALACTIC) || defined(IS_HUMBLE)
         opDetectionMsg.detections[i].id = std::to_string(inNetData->detections[i].label);
         opDetectionMsg.detections[i].results[0].hypothesis.class_id = std::to_string(inNetData->detections[i].label);
         opDetectionMsg.detections[i].results[0].hypothesis.score = inNetData->detections[i].confidence;
-#elif IS_ROS2
-        opDetectionMsg.detections[i].results[0].id = std::to_string(inNetData->detections[i].label);
-        opDetectionMsg.detections[i].results[0].score = inNetData->detections[i].confidence;
-#endif
-#ifdef IS_HUMBLE
         opDetectionMsg.detections[i].bbox.center.position.x = xCenter;
         opDetectionMsg.detections[i].bbox.center.position.y = yCenter;
-#else
-        opDetectionMsg.detections[i].bbox.center.x = xCenter;
-        opDetectionMsg.detections[i].bbox.center.y = yCenter;
-#endif
         opDetectionMsg.detections[i].bbox.size_x = xSize;
         opDetectionMsg.detections[i].bbox.size_y = ySize;
     }

depthai_bridge/src/SpatialDetectionConverter.cpp

@@ -52,19 +52,11 @@ void SpatialDetectionConverter::toRosMsg(std::shared_ptr<dai::SpatialImgDetectio
         float yCenter = yMin + ySize / 2;
         opDetectionMsg.detections[i].results.resize(1);
 
-#if defined(IS_GALACTIC) || defined(IS_HUMBLE)
         opDetectionMsg.detections[i].results[0].class_id = std::to_string(inNetData->detections[i].label);
-#elif IS_ROS2
-        opDetectionMsg.detections[i].results[0].id = std::to_string(inNetData->detections[i].label);
-        opDetectionMsg.detections[i].results[0].score = inNetData->detections[i].confidence;
-#endif
-#ifdef IS_HUMBLE
+
         opDetectionMsg.detections[i].bbox.center.position.x = xCenter;
         opDetectionMsg.detections[i].bbox.center.position.y = yCenter;
-#else
-        opDetectionMsg.detections[i].bbox.center.x = xCenter;
-        opDetectionMsg.detections[i].bbox.center.y = yCenter;
-#endif
+
         opDetectionMsg.detections[i].bbox.size_x = xSize;
         opDetectionMsg.detections[i].bbox.size_y = ySize;