Noetic 2.10.2 (#600)

depthai-ros/CHANGELOG.rst

@@ -1,6 +1,12 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.10.2 (2024-09-26)
+-------------------
+* Fix Stereo K matrix publishing
+* Fix socket ID for NN detections
+* Remove catching errors when starting the device since it introduced undefined behavior
+* Add desqueeze to NN node
 
 2.10.1 (2024-09-18)
 -------------------

depthai-ros/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project(depthai-ros VERSION 2.10.1 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.10.2 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 

depthai-ros/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai-ros</name>
-  <version>2.10.1</version>
+  <version>2.10.2</version>
   <description>The depthai-ros package</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>

depthai_bridge/CMakeLists.txt

@@ -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 2.10.1 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.10.2 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

depthai_bridge/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_bridge</name>
-  <version>2.10.1</version>
+  <version>2.10.2</version>
   <description>The depthai_bridge package</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>

depthai_descriptions/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(depthai_descriptions VERSION 2.10.1 LANGUAGES CXX C)
+project(depthai_descriptions VERSION 2.10.2 LANGUAGES CXX C)
 
 
 find_package(catkin REQUIRED

depthai_descriptions/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>depthai_descriptions</name>
-  <version>2.10.1</version>
+  <version>2.10.2</version>
   <description>The depthai_descriptions package</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>

depthai_examples/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
-project(depthai_examples VERSION 2.10.1 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.10.2 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

depthai_examples/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_examples</name>
-  <version>2.10.1</version>
+  <version>2.10.2</version>
   <description>The depthai_examples package</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>

depthai_filters/CMakeLists.txt

@@ -1,9 +1,10 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(depthai_filters VERSION 2.10.1 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.10.2 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 add_compile_options(-g)
 add_definitions(-std=c++14)
 

depthai_filters/include/depthai_filters/detection2d_overlay.hpp

@@ -26,4 +26,4 @@ class Detection2DOverlay : public nodelet::Nodelet {
                                          "car",        "cat",       "chair",       "cow",   "diningtable", "dog",    "horse",
                                          "motorbike",  "person",    "pottedplant", "sheep", "sofa",        "train",  "tvmonitor"};
 };
-}  // namespace depthai_filters
+}  // namespace depthai_filters

depthai_filters/launch/example_det2d_overlay.launch

@@ -14,4 +14,4 @@
         <remap from="/nn/detections" to="$(arg name)/nn/detections"/>
 
     </node>
-</launch>
+</launch>

depthai_filters/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>depthai_filters</name>
-  <version>2.10.1</version>
+  <version>2.10.2</version>
   <description>The depthai_filters package</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>

depthai_filters/src/detection2d_overlay.cpp

@@ -7,6 +7,7 @@
 #include "depthai_filters/utils.hpp"
 #include "nodelet/nodelet.h"
 #include "pluginlib/class_list_macros.h"
+#include "sensor_msgs/CameraInfo.h"
 
 namespace depthai_filters {
 void Detection2DOverlay::onInit() {

depthai_ros_driver/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16.3)
-project(depthai_ros_driver VERSION 2.10.1)
+project(depthai_ros_driver VERSION 2.10.2)
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()

depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/detection.hpp

@@ -70,6 +70,9 @@ class Detection : public BaseNode {
         if(ph->getParam<bool>("i_disable_resize")) {
             width = ph->getOtherNodeParam<int>(socketName, "i_preview_width");
             height = ph->getOtherNodeParam<int>(socketName, "i_preview_height");
+        } else if(ph->getParam<bool>("i_desqueeze_output")) {
+            width = ph->getOtherNodeParam<int>(socketName, "i_width");
+            height = ph->getOtherNodeParam<int>(socketName, "i_height");
         } else {
             width = imageManip->initialConfig.getResizeConfig().width;
             height = imageManip->initialConfig.getResizeConfig().height;
@@ -86,9 +89,12 @@ class Detection : public BaseNode {
             convConf.updateROSBaseTimeOnRosMsg = ph->getParam<bool>("i_update_ros_base_time_on_ros_msg");
 
             utils::ImgPublisherConfig pubConf;
+            pubConf.width = width;
+            pubConf.height = height;
             pubConf.daiNodeName = getName();
-            pubConf.topicName = "~/" + getName();
-            pubConf.topicSuffix = "passthrough";
+            pubConf.topicName = getName() + "/passthrough";
+            pubConf.infoSuffix = "/passthrough";
+            pubConf.infoMgrSuffix = "/passthrough";
             pubConf.socket = static_cast<dai::CameraBoardSocket>(ph->getParam<int>("i_board_socket_id"));
 
             ptPub->setup(device, convConf, pubConf);

depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/spatial_detection.hpp

@@ -79,8 +79,9 @@ class SpatialDetection : public BaseNode {
             pubConf.width = width;
             pubConf.height = height;
             pubConf.daiNodeName = getName();
-            pubConf.topicName = "~/" + getName();
-            pubConf.topicSuffix = "passthrough";
+            pubConf.topicName = getName() + "/passthrough";
+            pubConf.infoSuffix = "/passthrough";
+            pubConf.infoMgrSuffix = "/passthrough";
             pubConf.socket = static_cast<dai::CameraBoardSocket>(ph->getParam<int>("i_board_socket_id"));
 
             ptPub->setup(device, convConf, pubConf);
@@ -100,8 +101,9 @@ class SpatialDetection : public BaseNode {
             pubConf.width = ph->getOtherNodeParam<int>(sensor_helpers::getNodeName(getROSNode(), sensor_helpers::NodeNameEnum::Stereo), "i_width");
             pubConf.height = ph->getOtherNodeParam<int>(sensor_helpers::getNodeName(getROSNode(), sensor_helpers::NodeNameEnum::Stereo), "i_height");
             pubConf.daiNodeName = getName();
-            pubConf.topicName = "~/" + getName();
-            pubConf.topicSuffix = "/passthrough_depth";
+            pubConf.topicName = getName() + "/passthrough_depth";
+            pubConf.infoSuffix = "/passthrough_depth";
+            pubConf.infoMgrSuffix = "/passthrough_depth";
             pubConf.socket = socket;
 
             ptDepthPub->setup(device, convConf, pubConf);

depthai_ros_driver/include/depthai_ros_driver/param_handlers/nn_param_handler.hpp

@@ -40,6 +40,7 @@ class NNParamHandler : public BaseParamHandler {
     template <typename T>
     void declareParams(std::shared_ptr<T> nn, std::shared_ptr<dai::node::ImageManip> imageManip) {
         declareAndLogParam<bool>("i_disable_resize", false);
+        declareAndLogParam<bool>("i_desqueeze_output", false);
         declareAndLogParam<bool>("i_enable_passthrough", false);
         declareAndLogParam<bool>("i_enable_passthrough_depth", false);
         declareAndLogParam<bool>("i_get_base_device_timestamp", false);
@@ -106,11 +107,15 @@ class NNParamHandler : public BaseParamHandler {
         json data = json::parse(f);
         if(data.contains("model") && data.contains("nn_config")) {
             auto modelPath = getModelPath(data);
-            setImageManip(modelPath, imageManip);
+            modelPath = declareAndLogParam<std::string>("i_model_path", modelPath);
+            if(!getParam<bool>("i_disable_resize")) {
+                setImageManip(modelPath, imageManip);
+            }
             nn->setBlobPath(modelPath);
-            nn->setNumPoolFrames(4);
-            nn->setNumInferenceThreads(2);
+            nn->setNumPoolFrames(declareAndLogParam<int>("i_num_pool_frames", 4));
+            nn->setNumInferenceThreads(declareAndLogParam<int>("i_num_inference_threads", 2));
             nn->input.setBlocking(false);
+            declareAndLogParam<int>("i_max_q_size", 30);
             setNNParams(data, nn);
         }
     }
@@ -124,4 +129,4 @@ class NNParamHandler : public BaseParamHandler {
     std::vector<std::string> labels;
 };
 }  // namespace param_handlers
-}  // namespace depthai_ros_driver
+}  // namespace depthai_ros_driver

depthai_ros_driver/include/depthai_ros_driver/utils.hpp

@@ -66,6 +66,7 @@ struct ImgPublisherConfig {
     dai::CameraBoardSocket rightSocket = dai::CameraBoardSocket::CAM_C;
     std::string calibrationFile = "";
     std::string topicSuffix = "/image_raw";
+    std::string infoSuffix = "";
     std::string compressedTopicSuffix = "/image_raw/compressed";
     std::string infoMgrSuffix = "";
     bool rectified = false;

depthai_ros_driver/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>depthai_ros_driver</name>
-  <version>2.10.1</version>
+  <version>2.10.2</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
   <author>Adam Serafin</author>

depthai_ros_driver/src/camera.cpp

@@ -68,20 +68,11 @@ void Camera::diagCB(const diagnostic_msgs::DiagnosticArray::ConstPtr& msg) {
 }
 
 void Camera::start() {
-    bool success = false;
-    while(!success) {
-        try {
-            ROS_INFO("Starting camera.");
-            if(!camRunning) {
-                onConfigure();
-            } else {
-                ROS_INFO("Camera already running!.");
-            }
-            success = true;
-        } catch(const std::exception& e) {
-            ROS_ERROR("Exception occurred: %s. Retry", e.what());
-            camRunning = false;
-        }
+    ROS_INFO("Starting camera.");
+    if(!camRunning) {
+        onConfigure();
+    } else {
+        ROS_INFO("Camera already running!.");
     }
 }
 void Camera::stop() {

depthai_ros_driver/src/dai_nodes/nn/nn_wrapper.cpp

@@ -17,15 +17,15 @@ NNWrapper::NNWrapper(const std::string& daiNodeName, ros::NodeHandle node, std::
     auto family = ph->getNNFamily();
     switch(family) {
         case param_handlers::nn::NNFamily::Yolo: {
-            nnNode = std::make_unique<dai_nodes::nn::Detection<dai::node::YoloDetectionNetwork>>(getName(), getROSNode(), pipeline);
+            nnNode = std::make_unique<dai_nodes::nn::Detection<dai::node::YoloDetectionNetwork>>(getName(), getROSNode(), pipeline, socket);
             break;
         }
         case param_handlers::nn::NNFamily::Mobilenet: {
-            nnNode = std::make_unique<dai_nodes::nn::Detection<dai::node::MobileNetDetectionNetwork>>(getName(), getROSNode(), pipeline);
+            nnNode = std::make_unique<dai_nodes::nn::Detection<dai::node::MobileNetDetectionNetwork>>(getName(), getROSNode(), pipeline, socket);
             break;
         }
         case param_handlers::nn::NNFamily::Segmentation: {
-            nnNode = std::make_unique<dai_nodes::nn::Segmentation>(getName(), getROSNode(), pipeline);
+            nnNode = std::make_unique<dai_nodes::nn::Segmentation>(getName(), getROSNode(), pipeline, socket);
             break;
         }
     }

depthai_ros_driver/src/dai_nodes/nn/spatial_nn_wrapper.cpp

@@ -19,11 +19,11 @@ SpatialNNWrapper::SpatialNNWrapper(const std::string& daiNodeName,
     auto family = ph->getNNFamily();
     switch(family) {
         case param_handlers::nn::NNFamily::Yolo: {
-            nnNode = std::make_unique<dai_nodes::nn::SpatialDetection<dai::node::YoloSpatialDetectionNetwork>>(getName(), getROSNode(), pipeline);
+            nnNode = std::make_unique<dai_nodes::nn::SpatialDetection<dai::node::YoloSpatialDetectionNetwork>>(getName(), getROSNode(), pipeline, socket);
             break;
         }
         case param_handlers::nn::NNFamily::Mobilenet: {
-            nnNode = std::make_unique<dai_nodes::nn::SpatialDetection<dai::node::MobileNetSpatialDetectionNetwork>>(getName(), getROSNode(), pipeline);
+            nnNode = std::make_unique<dai_nodes::nn::SpatialDetection<dai::node::MobileNetSpatialDetectionNetwork>>(getName(), getROSNode(), pipeline, socket);
             break;
         }
         case param_handlers::nn::NNFamily::Segmentation: {

depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp

@@ -64,7 +64,7 @@ void ImagePublisher::setup(std::shared_ptr<dai::Device> device, const utils::Img
         } else {
             ffmpegPub = node.advertise<depthai_ros_msgs::FFMPEGPacket>(pubConfig.topicName + pubConfig.compressedTopicSuffix, 10);
         }
-        infoPub = node.advertise<sensor_msgs::CameraInfo>(pubConfig.topicName + "/camera_info", 10);
+        infoPub = node.advertise<sensor_msgs::CameraInfo>(pubConfig.topicName + pubConfig.infoSuffix + "/camera_info", 10);
     } else {
         imgPubIT = it.advertiseCamera(pubConfig.topicName + pubConfig.topicSuffix, 10);
     }
@@ -110,13 +110,12 @@ std::shared_ptr<dai::node::VideoEncoder> ImagePublisher::createEncoder(std::shar
     return enc;
 }
 void ImagePublisher::createInfoManager(std::shared_ptr<dai::Device> device) {
-    infoManager = std::make_shared<camera_info_manager::CameraInfoManager>(ros::NodeHandle(node, pubConfig.daiNodeName),
+    infoManager = std::make_shared<camera_info_manager::CameraInfoManager>(ros::NodeHandle(node, pubConfig.daiNodeName + pubConfig.infoMgrSuffix),
                                                                            "/" + pubConfig.daiNodeName + pubConfig.infoMgrSuffix);
     if(pubConfig.calibrationFile.empty()) {
         auto info = sensor_helpers::getCalibInfo(converter, device, pubConfig.socket, pubConfig.width, pubConfig.height);
         if(pubConfig.rectified) {
             std::fill(info.D.begin(), info.D.end(), 0.0);
-            std::fill(info.K.begin(), info.K.end(), 0.0);
             info.R[0] = info.R[4] = info.R[8] = 1.0;
         }
         infoManager->setCameraInfo(info);

depthai_ros_driver/src/dai_nodes/sensors/rgb.cpp

@@ -99,7 +99,7 @@ void RGB::setupQueues(std::shared_ptr<dai::Device> device) {
 
         utils::ImgPublisherConfig pubConfig;
         pubConfig.daiNodeName = getName();
-        pubConfig.topicName = "~/" + getName();
+        pubConfig.topicName = getName();
         pubConfig.lazyPub = ph->getParam<bool>("i_enable_lazy_publisher");
         pubConfig.socket = static_cast<dai::CameraBoardSocket>(ph->getParam<int>("i_board_socket_id"));
         pubConfig.calibrationFile = ph->getParam<std::string>("i_calibration_file");
@@ -108,6 +108,7 @@ void RGB::setupQueues(std::shared_ptr<dai::Device> device) {
         pubConfig.height = ph->getParam<int>("i_preview_height");
         pubConfig.maxQSize = ph->getParam<int>("i_max_q_size");
         pubConfig.topicSuffix = "/preview/image_raw";
+        pubConfig.infoMgrSuffix = "/preview";
 
         previewPub->setup(device, convConfig, pubConfig);
     };

depthai_ros_driver/src/dai_nodes/sensors/sensor_wrapper.cpp

@@ -33,8 +33,8 @@ SensorWrapper::SensorWrapper(const std::string& daiNodeName,
         converter = std::make_unique<dai::ros::ImageConverter>(true);
         setNames();
         setXinXout(pipeline);
-        socketID = ph->getParam<int>("i_board_socket_id");
     }
+    socketID = ph->getParam<int>("i_board_socket_id");
     if(ph->getParam<bool>("i_disable_node") && ph->getParam<bool>("i_simulate_from_topic")) {
         ROS_INFO("Disabling node %s, pipeline data taken from topic.", getName().c_str());
     } else {

depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp

@@ -28,7 +28,7 @@ void SensorParamHandler::declareCommonParams(dai::CameraBoardSocket socket) {
     declareAndLogParam<std::string>("i_simulated_topic_name", "");
     declareAndLogParam<bool>("i_disable_node", false);
     declareAndLogParam<bool>("i_get_base_device_timestamp", false);
-    socketID = static_cast<dai::CameraBoardSocket>(declareAndLogParam<int>("i_board_socket_id", static_cast<int>(socket), 0));
+    socketID = static_cast<dai::CameraBoardSocket>(declareAndLogParam<int>("i_board_socket_id", static_cast<int>(socket), false));
     declareAndLogParam<bool>("i_update_ros_base_time_on_ros_msg", false);
     declareAndLogParam<bool>("i_enable_feature_tracker", false);
     declareAndLogParam<bool>("i_enable_nn", false);

depthai_ros_msgs/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required (VERSION 3.10.2)  # CMake version in Ubuntu 18.04 LTS
 
-project (depthai_ros_msgs VERSION 2.10.1)
+project (depthai_ros_msgs VERSION 2.10.2)
 
 if(POLICY CMP0057)
     cmake_policy(SET CMP0057 NEW)

depthai_ros_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_ros_msgs</name>
-  <version>2.10.1</version>
+  <version>2.10.2</version>
   <description>Package to keep interface independent of the driver</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>