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Iron 2.10.5 (#626)
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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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2.10.5 (2024-11-12)
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-------------------
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* Fix low bandwidth stereo publishing
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2.10.4 (2024-11-07)
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-------------------
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* Fix rectified topic names
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* Fix pointcloud launch
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* Add sensor parameters for max autoexposure, sharpness, luma and chroma denoise
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2.10.3 (2024-10-14)
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-------------------
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* Allow setting USB speed without specifying device information

‎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 2.10.3 LANGUAGES CXX C)
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project(depthai-ros VERSION 2.10.5 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>2.10.3</version>
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<version>2.10.5</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 2.10.3 LANGUAGES CXX C)
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project(depthai_bridge VERSION 2.10.5 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>2.10.3</version>
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<version>2.10.5</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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cmake_minimum_required(VERSION 3.8)
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project(depthai_descriptions VERSION 2.10.3)
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project(depthai_descriptions VERSION 2.10.5)
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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>2.10.3</version>
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<version>2.10.5</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 2.10.3 LANGUAGES CXX C)
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project(depthai_examples VERSION 2.10.5 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>2.10.3</version>
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<version>2.10.5</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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cmake_minimum_required(VERSION 3.8)
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project(depthai_filters VERSION 2.10.3 LANGUAGES CXX C)
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project(depthai_filters VERSION 2.10.5 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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<?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>2.10.3</version>
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<version>2.10.5</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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cmake_minimum_required(VERSION 3.22)
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project(depthai_ros_driver VERSION 2.10.3)
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project(depthai_ros_driver VERSION 2.10.5)
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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/pcl.yaml

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i_align_depth: true
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i_board_socket_id: 2
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i_subpixel: true
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i_publish_right_rect: true
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i_right_rect_publish_topic: true

‎depthai_ros_driver/launch/camera.launch.py

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},
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}
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parameter_overrides["depth"] = {
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"i_publish_left_rect": True,
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"i_publish_right_rect": True,
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"i_left_rect_publish_topic": True,
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"i_right_rect_publish_topic": True,
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}
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tf_params = {}

‎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>2.10.3</version>
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<version>2.10.5</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/dai_nodes/sensors/img_pub.cpp

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@@ -99,7 +99,7 @@ void ImagePublisher::createImageConverter(std::shared_ptr<dai::Device> device) {
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if(convConfig.alphaScalingEnabled) {
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converter->setAlphaScaling(convConfig.alphaScaling);
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}
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if(convConfig.outputDisparity) {
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if(!convConfig.outputDisparity) {
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auto calHandler = device->readCalibration();
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double baseline = calHandler.getBaselineDistance(pubConfig.leftSocket, pubConfig.rightSocket, false);
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if(convConfig.reverseSocketOrder) {

‎depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp

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void Stereo::setXinXout(std::shared_ptr<dai::Pipeline> pipeline) {
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bool outputDisparity = ph->getParam<bool>("i_output_disparity");
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bool lowBandwidth = ph->getParam<bool>("i_low_bandwidth");
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std::function<void(dai::Node::Input)> stereoLinkChoice;
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if(outputDisparity) {
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if(outputDisparity || lowBandwidth) {
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stereoLinkChoice = [&](auto input) { stereoCamNode->disparity.link(input); };
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} else {
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stereoLinkChoice = [&](auto input) { stereoCamNode->depth.link(input); };
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encConf.bitrate = ph->getParam<int>("i_low_bandwidth_bitrate");
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encConf.frameFreq = ph->getParam<int>("i_low_bandwidth_frame_freq");
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encConf.quality = ph->getParam<int>("i_low_bandwidth_quality");
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encConf.enabled = ph->getParam<bool>("i_low_bandwidth");
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encConf.enabled = lowBandwidth;
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stereoPub = setupOutput(pipeline, stereoQName, stereoLinkChoice, ph->getParam<bool>("i_synced"), encConf);
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}
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pubConfig.width = ph->getOtherNodeParam<int>(sensorName, "i_width");
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pubConfig.height = ph->getOtherNodeParam<int>(sensorName, "i_height");
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pubConfig.topicName = "~/" + sensorName;
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pubConfig.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_raw";
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pubConfig.topicSuffix = rsCompabilityMode() ? "/image_rect_raw" : "/image_rect";
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pubConfig.maxQSize = ph->getOtherNodeParam<int>(sensorName, "i_max_q_size");
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pubConfig.socket = sensorInfo.socket;
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pubConfig.infoMgrSuffix = "rect";

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