diff --git a/Dockerfile b/Dockerfile index b23d19b..26b0f99 100644 --- a/Dockerfile +++ b/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 \ diff --git a/demo/oak-1/camera.yaml b/demo/oak-1/camera.yaml new file mode 100644 index 0000000..28dd401 --- /dev/null +++ b/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 diff --git a/compose.yaml b/demo/oak-1/compose.yaml similarity index 66% rename from compose.yaml rename to demo/oak-1/compose.yaml index 7ad2140..fb54ffc 100644 --- a/compose.yaml +++ b/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 diff --git a/default.rviz b/demo/oak-1/default.rviz similarity index 59% rename from default.rviz rename to demo/oak-1/default.rviz index 22e3f30..ac6e79c 100644 --- a/default.rviz +++ b/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 @@ -113,15 +192,15 @@ 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: Value: Orbit (rviz) - Yaw: 0.785398006439209 + Yaw: 6.203579902648926 Saved: ~ Window Geometry: Displays: @@ -129,7 +208,9 @@ Window Geometry: 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: