Merge pull request #2 from husarion/oak-1-example

Oak 1 example

Dockerfile

@@ -8,7 +8,7 @@ SHELL ["/bin/bash", "-c"]
 
 WORKDIR /ros2_ws
 
-ARG DEPTHAI_ROS_RELEASE="v2.7.4-${ROS_DISTRO}"
+ARG DEPTHAI_ROS_RELEASE="v2.8.1-${ROS_DISTRO}"
 
 RUN apt-get update && apt-get install -y \
 		python3-pip \

demo/oak-1/camera.yaml

@@ -0,0 +1,46 @@
+/oak:
+  ros__parameters:
+    camera:
+      i_enable_imu: false
+      i_enable_ir: false
+      i_floodlight_brightness: 0
+      i_ip: ''
+      i_laser_dot_brightness: 800
+      i_mx_id: ''
+      i_nn_type: none
+      i_pipeline_type: RGB
+      i_usb_port_id: ''
+      i_usb_speed: SUPER_PLUS
+      i_pipeline_dump: false
+      i_calibration_dump: false
+      i_external_calibration_path: ''
+    rgb:
+      i_board_socket_id: 0
+      i_simulate_from_topic: false
+      i_get_base_device_timestamp: false
+      i_disable_node: false
+      i_calibration_file: ''
+      i_enable_preview: false
+      i_fps: 30.0
+      i_width: 1280
+      i_height: 720
+      i_interleaved: false
+      i_keep_preview_aspect_ratio: true
+      i_low_bandwidth: false
+      i_low_bandwidth_quality: 50
+      i_max_q_size: 30
+      i_preview_size: 300
+      i_publish_topic: true
+      i_resolution: '800'
+      i_set_isp_scale: false
+      i_isp_num: 2
+      i_isp_den: 3
+      i_output_isp: false
+      r_exposure: 20000
+      r_focus: 1
+      r_iso: 800
+      r_set_man_exposure: false
+      r_set_man_focus: false
+      r_set_man_whitebalance: false
+      r_whitebalance: 3300
+    use_sim_time: false

compose.yaml → demo/oak-1/compose.yaml

@@ -3,9 +3,10 @@ services:
     image: husarion/depthai:humble
     volumes:
       - /dev/bus/usb:/dev/bus/usb
+      - ./camera.yaml:/ros2_ws/install/depthai_ros_driver/share/depthai_ros_driver/config/camera.yaml
     device_cgroup_rules:
       - 'c 189:* rmw'
-    command: ros2 launch depthai_ros_driver camera.launch.py
+    command: ros2 launch depthai_ros_driver camera.launch.py parent_frame:=oak-1-base-frame
 
   rviz:
     image: husarion/rviz2:galactic

default.rviz → demo/oak-1/default.rviz

@@ -1,13 +1,16 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 70
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
         - /Status1
+        - /TF1
+        - /TF1/Frames1
+        - /TF1/Tree1
       Splitter Ratio: 0.5
-    Tree Height: 163
+    Tree Height: 200
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -30,7 +33,7 @@ Visualization Manager:
   Class: ""
   Displays:
     - Class: rviz_default_plugins/Image
-      Enabled: true
+      Enabled: false
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -42,9 +45,9 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /oak/rgb/image_raw
-      Value: true
+      Value: false
     - Class: rviz_default_plugins/Image
-      Enabled: true
+      Enabled: false
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -56,11 +59,87 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /oak/stereo/image_raw
+      Value: false
+    - Class: rviz_default_plugins/Image
+      Enabled: false
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /color/image
+      Value: false
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        oak:
+          Value: true
+        oak-1-base-frame:
+          Value: true
+        oak_imu_frame:
+          Value: false
+        oak_left_camera_frame:
+          Value: false
+        oak_left_camera_optical_frame:
+          Value: false
+        oak_model_origin:
+          Value: true
+        oak_rgb_camera_frame:
+          Value: true
+        oak_rgb_camera_optical_frame:
+          Value: true
+        oak_right_camera_frame:
+          Value: false
+        oak_right_camera_optical_frame:
+          Value: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        oak-1-base-frame:
+          oak:
+            oak_imu_frame:
+              {}
+            oak_left_camera_frame:
+              oak_left_camera_optical_frame:
+                {}
+            oak_model_origin:
+              {}
+            oak_rgb_camera_frame:
+              oak_rgb_camera_optical_frame:
+                {}
+            oak_right_camera_frame:
+              oak_right_camera_optical_frame:
+                {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /oak/rgb/image_raw
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: laser
+    Fixed Frame: oak-1-base-frame
     Frame Rate: 30
   Name: root
   Tools:
@@ -103,7 +182,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 6.147818088531494
+      Distance: 1.884342908859253
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -113,23 +192,25 @@ Visualization Manager:
         X: 0
         Y: 0
         Z: 0
-      Focal Shape Fixed Size: true
+      Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.785398006439209
+      Pitch: 0.060203198343515396
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.785398006439209
+      Yaw: 6.203579902648926
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
   Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000038f0000035efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000124000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000180069006d006100670065005f00730074006500720065006f0100000165000001130000002800fffffffb000000120069006d006100670065005f007200670062010000027e0000011b0000002800ffffff000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000035e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d00650100000000000007360000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000003a10000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000038f0000034bfc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000038200000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000103000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000180069006d006100670065005f00730074006500720065006f00000003340000015c0000002800fffffffb000000120069006d006100670065005f00720067006200000003b7000001170000002800fffffffb0000000a0049006d00610067006500000004dd000001cc0000002800fffffffb0000000a0049006d0061006700650100000144000002420000002800ffffff00000001000001000000034bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000034b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a00000051fc0100000002fb0000000800540069006d006501000000000000073a0000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000029f0000034b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -138,9 +219,9 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1846
-  X: 74
-  Y: 27
+  Width: 1850
+  X: 3910
+  Y: 1107
   image_rgb:
     collapsed: false
   image_stereo: