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Jazzy 2.10 (#588)
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Serafadam authored Aug 29, 2024
1 parent 2e81008 commit 9b59307
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6 changes: 3 additions & 3 deletions .github/workflows/main.workflow.yml
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ jobs:
fail-fast: false
steps:
- uses: actions/[email protected]
- uses: ros-tooling/setup-ros@0.6.2
- uses: ros-tooling/setup-ros@0.7.8
with:
required-ros-distributions: ${{ env.ROS_DISTRO }}
- uses: ros-tooling/[email protected]
Expand All @@ -52,7 +52,7 @@ jobs:
linter: [xmllint, pep257, lint_cmake]
steps:
- uses: actions/[email protected]
- uses: ros-tooling/setup-ros@0.6.2
- uses: ros-tooling/setup-ros@0.7.8
with:
required-ros-distributions: ${{ env.ROS_DISTRO }}
- uses: ros-tooling/[email protected]
Expand Down Expand Up @@ -119,4 +119,4 @@ jobs:
no-cache: true
tags: |
luxonis/depthai-ros:${{ steps.vars.outputs.short_ref }}
luxonis/depthai-ros:${{ env.ROS_DISTRO }}-latest
luxonis/depthai-ros:${{ env.ROS_DISTRO }}-latest
2 changes: 1 addition & 1 deletion README.md
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
# Depthai ROS Repository
Hi and welcome to the main depthai-ros respository! Here you can find ROS related code for OAK cameras from Luxonis. Don't have one? You can get them [here!](https://shop.luxonis.com/)

You can find the newest documentation [here](https://docs-beta.luxonis.com/software/ros/depthai-ros/intro/).
You can find the newest documentation [here](https://docs.luxonis.com/software/ros/depthai-ros/)
25 changes: 25 additions & 0 deletions depthai-ros/CHANGELOG.rst
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Expand Up @@ -2,6 +2,31 @@
Changelog for package depthai-ros
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

2.10.0 (2024-08-29)
-------------------
## What's Changed
* Adding stl files for SR and LR models by @danilo-pejovic in https://github.com/luxonis/depthai-ros/pull/491
* No imu fix Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/500
* Tracking converter for ROS2 Humble by @daniqsilva25 in https://github.com/luxonis/depthai-ros/pull/505
* Added Env Hooks so that depthai xacro can be used with gazebo sim by @r4hul77 in https://github.com/luxonis/depthai-ros/pull/507
* Fix resource paths for Ignition Gazebo by @Nibanovic in https://github.com/luxonis/depthai-ros/pull/511
* Use simulation flag to decide how to load meshes. by @destogl in https://github.com/luxonis/depthai-ros/pull/524
* Add new launch file for starting multiple rgbd cameras on robots. by @destogl in https://github.com/luxonis/depthai-ros/pull/532
* Missing fields in detection messages Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/574
* Ip autodiscovery fix Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/561
* RS Mode & Sync - Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/578
* Compressed image publishers by @Serafadam in https://github.com/luxonis/depthai-ros/pull/580
* ToF Support Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/581
* WLS fix humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/582
* Syncing & RS updates Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/586

## New Contributors
* @r4hul77 made their first contribution in https://github.com/luxonis/depthai-ros/pull/507
* @Nibanovic made their first contribution in https://github.com/luxonis/depthai-ros/pull/511
* @destogl made their first contribution in https://github.com/luxonis/depthai-ros/pull/524

**Full Changelog**: https://github.com/luxonis/depthai-ros/compare/v2.9.0-humble...v2.10.0-humble

2.9.0 (2024-01-24)
-------------------

Expand Down
4 changes: 2 additions & 2 deletions depthai-ros/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
cmake_minimum_required(VERSION 3.10.2) # CMake version in Ubuntu 18.04 LTS

project(depthai-ros VERSION 2.9.0 LANGUAGES CXX C)
project(depthai-ros VERSION 2.10.0 LANGUAGES CXX C)

set(CMAKE_CXX_STANDARD 14)

find_package(ament_cmake REQUIRED)


ament_package()
ament_package()
4 changes: 2 additions & 2 deletions depthai-ros/package.xml
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
<?xml version="1.0"?>
<package format="3">
<name>depthai-ros</name>
<version>2.9.0</version>
<version>2.10.0</version>
<description>The depthai-ros package</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="sachin@luxonis.com">sachin</maintainer>
<maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
<author>Sachin Guruswamy</author>

<license>MIT</license>
Expand Down
6 changes: 5 additions & 1 deletion depthai_bridge/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -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 2.9.0 LANGUAGES CXX C)
project(depthai_bridge VERSION 2.10.0 LANGUAGES CXX C)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
Expand Down Expand Up @@ -42,6 +42,7 @@ find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(composition_interfaces REQUIRED)
find_package(ffmpeg_image_transport_msgs REQUIRED)

set(dependencies
ament_index_cpp
Expand All @@ -58,6 +59,7 @@ set(dependencies
tf2_geometry_msgs
tf2
composition_interfaces
ffmpeg_image_transport_msgs
)

include_directories(
Expand All @@ -74,6 +76,8 @@ file(GLOB LIB_SRC
"src/ImuConverter.cpp"
"src/TFPublisher.cpp"
"src/TrackedFeaturesConverter.cpp"
"src/TrackDetectionConverter.cpp"
"src/TrackSpatialDetectionConverter.cpp"
)

add_library(${PROJECT_NAME} SHARED ${LIB_SRC})
Expand Down
59 changes: 38 additions & 21 deletions depthai_bridge/include/depthai_bridge/ImageConverter.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -10,9 +10,12 @@
#include "depthai-shared/common/CameraBoardSocket.hpp"
#include "depthai-shared/common/Point2f.hpp"
#include "depthai/device/CalibrationHandler.hpp"
#include "depthai/pipeline/datatype/EncodedFrame.hpp"
#include "depthai/pipeline/datatype/ImgFrame.hpp"
#include "ffmpeg_image_transport_msgs/msg/ffmpeg_packet.hpp"
#include "rclcpp/time.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
#include "sensor_msgs/msg/compressed_image.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "std_msgs/msg/header.hpp"

Expand All @@ -22,7 +25,10 @@ namespace ros {

namespace StdMsgs = std_msgs::msg;
namespace ImageMsgs = sensor_msgs::msg;
namespace FFMPEGMsgs = ffmpeg_image_transport_msgs::msg;
using ImagePtr = ImageMsgs::Image::SharedPtr;
using FFMPEGImagePtr = FFMPEGMsgs::FFMPEGPacket::SharedPtr;
using CompImagePtr = ImageMsgs::CompressedImage::SharedPtr;

using TimePoint = std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>;

Expand All @@ -47,7 +53,7 @@ class ImageConverter {
* @param update: bool whether to automatically update the ROS base time on message conversion
*/
void setUpdateRosBaseTimeOnToRosMsg(bool update = true) {
_updateRosBaseTimeOnToRosMsg = update;
updateRosBaseTimeOnToRosMsg = update;
}

/**
Expand Down Expand Up @@ -80,10 +86,20 @@ class ImageConverter {
*/
void setAlphaScaling(double alphaScalingFactor = 0.0);

/**
* @brief Sets the encoding of the image when converting to FFMPEG message. Default is libx264.
* @param encoding: The encoding to be used.
*/
void setFFMPEGEncoding(const std::string& encoding);

void toRosMsg(std::shared_ptr<dai::ImgFrame> inData, std::deque<ImageMsgs::Image>& outImageMsgs);
ImageMsgs::Image toRosMsgRawPtr(std::shared_ptr<dai::ImgFrame> inData, const sensor_msgs::msg::CameraInfo& info = sensor_msgs::msg::CameraInfo());
ImagePtr toRosMsgPtr(std::shared_ptr<dai::ImgFrame> inData);

FFMPEGMsgs::FFMPEGPacket toRosFFMPEGPacket(std::shared_ptr<dai::EncodedFrame> inData);

ImageMsgs::CompressedImage toRosCompressedMsg(std::shared_ptr<dai::ImgFrame> inData);

void toDaiMsg(const ImageMsgs::Image& inMsg, dai::ImgFrame& outData);

/** TODO(sachin): Add support for ros msg to cv mat since we have some
Expand All @@ -99,36 +115,37 @@ class ImageConverter {
Point2f bottomRightPixelId = Point2f());

private:
void planarToInterleaved(const std::vector<uint8_t>& srcData, std::vector<uint8_t>& destData, int w, int h, int numPlanes, int bpp);
void interleavedToPlanar(const std::vector<uint8_t>& srcData, std::vector<uint8_t>& destData, int w, int h, int numPlanes, int bpp);
static std::unordered_map<dai::RawImgFrame::Type, std::string> encodingEnumMap;
static std::unordered_map<dai::RawImgFrame::Type, std::string> planarEncodingEnumMap;

// dai::RawImgFrame::Type _srcType;
bool _daiInterleaved;
bool daiInterleaved;
// bool c
const std::string _frameName = "";
void planarToInterleaved(const std::vector<uint8_t>& srcData, std::vector<uint8_t>& destData, int w, int h, int numPlanes, int bpp);
void interleavedToPlanar(const std::vector<uint8_t>& srcData, std::vector<uint8_t>& destData, int w, int h, int numPlanes, int bpp);
std::chrono::time_point<std::chrono::steady_clock> _steadyBaseTime;
const std::string frameName = "";
std::chrono::time_point<std::chrono::steady_clock> steadyBaseTime;

rclcpp::Time _rosBaseTime;
bool _getBaseDeviceTimestamp;
rclcpp::Time rosBaseTime;
bool getBaseDeviceTimestamp;
// For handling ROS time shifts and debugging
int64_t _totalNsChange{0};
int64_t totalNsChange{0};
// Whether to update the ROS base time on each message conversion
bool _updateRosBaseTimeOnToRosMsg{false};
dai::RawImgFrame::Type _srcType;
bool _fromBitstream = false;
bool _convertDispToDepth = false;
bool _addExpOffset = false;
bool _alphaScalingEnabled = false;
dai::CameraExposureOffset _expOffset;
bool _reverseStereoSocketOrder = false;
double _baseline;
double _alphaScalingFactor = 0.0;
bool updateRosBaseTimeOnToRosMsg{false};
dai::RawImgFrame::Type srcType;
bool fromBitstream = false;
bool dispToDepth = false;
bool addExpOffset = false;
bool alphaScalingEnabled = false;
dai::CameraExposureOffset expOffset;
bool reversedStereoSocketOrder = false;
double baseline;
double alphaScalingFactor = 0.0;
int camHeight = -1;
int camWidth = -1;
std::string ffmpegEncoding = "libx264";
};

} // namespace ros

namespace rosBridge = ros;

} // namespace dai
60 changes: 36 additions & 24 deletions depthai_bridge/include/depthai_bridge/TFPublisher.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -4,15 +4,19 @@
#include "geometry_msgs/msg/quaternion.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "nlohmann/json.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/parameter_client.hpp"
#include "tf2_ros/static_transform_broadcaster.h"

namespace rclcpp {
class Node;
} // namespace rclcpp

namespace dai {
namespace ros {
class TFPublisher {
public:
explicit TFPublisher(rclcpp::Node* node,
explicit TFPublisher(std::shared_ptr<rclcpp::Node> node,
const dai::CalibrationHandler& calHandler,
const std::vector<dai::CameraFeatures>& camFeatures,
const std::string& camName,
Expand All @@ -27,7 +31,8 @@ class TFPublisher {
const std::string& camYaw,
const std::string& imuFromDescr,
const std::string& customURDFLocation,
const std::string& customXacroArgs);
const std::string& customXacroArgs,
const bool rsCompatibilityMode);
/**
* @brief Obtain URDF description by running Xacro with provided arguments.
*/
Expand All @@ -53,43 +58,50 @@ class TFPublisher {
* Frame names are based on socket names and use following convention: [base_frame]_[socket_name]_camera_frame and
* [base_frame]_[socket_name]_camera_optical_frame
*/
void publishCamTransforms(nlohmann::json camData, rclcpp::Node* node);
void publishCamTransforms(nlohmann::json camData, std::shared_ptr<rclcpp::Node> node);
/**
* @brief Publish IMU transform based on calibration data.
* Frame name is based on IMU name and uses following convention: [base_frame]_imu_frame.
* If IMU extrinsics are not set, warning is printed out and imu frame is published with zero translation and rotation.
*/
void publishImuTransform(nlohmann::json json, rclcpp::Node* node);
void publishImuTransform(nlohmann::json json, std::shared_ptr<rclcpp::Node> node);
/**
* @brief Check if model STL file is available in depthai_descriptions package.
*/
bool modelNameAvailable();
std::string getCamSocketName(int socketNum);
std::unique_ptr<rclcpp::AsyncParametersClient> _paramClient;
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> _tfPub;
std::string _camName;
std::string _camModel;
std::string _baseFrame;
std::string _parentFrame;
std::string _camPosX;
std::string _camPosY;
std::string _camPosZ;
std::string _camRoll;
std::string _camPitch;
std::string _camYaw;
std::string _imuFromDescr;
std::string _customURDFLocation;
std::string _customXacroArgs;
std::vector<dai::CameraFeatures> _camFeatures;
rclcpp::Logger _logger;
const std::unordered_map<dai::CameraBoardSocket, std::string> _socketNameMap = {
std::unique_ptr<rclcpp::AsyncParametersClient> paramClient;
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tfPub;
std::string camName;
std::string camModel;
std::string baseFrame;
std::string parentFrame;
std::string camPosX;
std::string camPosY;
std::string camPosZ;
std::string camRoll;
std::string camPitch;
std::string camYaw;
std::string imuFromDescr;
std::string customURDFLocation;
std::string customXacroArgs;
std::vector<dai::CameraFeatures> camFeatures;
bool rsCompatibilityMode;
rclcpp::Logger logger;
const std::unordered_map<dai::CameraBoardSocket, std::string> socketNameMap = {
{dai::CameraBoardSocket::AUTO, "rgb"},
{dai::CameraBoardSocket::CAM_A, "rgb"},
{dai::CameraBoardSocket::CAM_B, "left"},
{dai::CameraBoardSocket::CAM_C, "right"},
{dai::CameraBoardSocket::CAM_D, "left_back"},
{dai::CameraBoardSocket::CAM_E, "right_back"},
};
const std::unordered_map<dai::CameraBoardSocket, std::string> rsSocketNameMap = {
{dai::CameraBoardSocket::AUTO, "color"},
{dai::CameraBoardSocket::CAM_A, "color"},
{dai::CameraBoardSocket::CAM_B, "infra2"},
{dai::CameraBoardSocket::CAM_C, "infra1"},
};
};
} // namespace ros
} // namespace dai
} // namespace dai
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