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‎.clang-format

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BasedOnStyle: Google
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NamespaceIndentation: None
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BreakBeforeBinaryOperators: NonAssignment
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SpaceBeforeParens: Never
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IndentPPDirectives: BeforeHash
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AlignOperands: true
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DerivePointerAlignment: false
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BinPackArguments: false
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BinPackParameters: false
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AllowShortFunctionsOnASingleLine: Empty
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ColumnLimit: 160
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AllowShortIfStatementsOnASingleLine: WithoutElse

‎LICENSE

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MIT License
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Copyright (c) 2020 Luxonis LLC
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎README.md

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# depthai-ros
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main branch supports ROS Melodic, ROS Noetic, ROS2 Foxy & Galactic. Might also work on kinetic too.
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### Install from ros binaries
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Add USB rules to your system
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```
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echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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Install depthai-ros. (Available for Noetic, foxy, galactic and humble)
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`sudo apt install ros-<distro>-depthai-ros`
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## Install from source
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### Install dependencies
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The following script will install depthai-core and update usb rules and install depthai devices
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```
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sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/main/install_dependencies.sh | sudo bash
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```
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if you don't have opencv installed then try `sudo apt install libopencv-dev`
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if you don't have rosdep installed and not initialized please execute the following steps:
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1. `sudo apt install python-rosdep`(melodic) or `sudo apt install python3-rosdep`
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2. `sudo rosdep init`
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3. `rosdep update`
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### Setting up procedure
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The following setup procedure assumes you have cmake version >= 3.10.2 and OpenCV version >= 4.0.0. We selected `dai_ws` as the name for a new folder, as it will be our depthai ros workspace.
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1. `mkdir -p dai_ws/src`
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2. `cd dai_ws/src`
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3. `git clone https://github.com/luxonis/depthai-ros.git`
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4. `cd ../..`
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5. `rosdep install --from-paths src --ignore-src -r -y`
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6. `source /opt/ros/<ros-distro>/setup.bash`
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7. `catkin_make` (For ROS1) `colcon build` (for ROS2)
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8. `source devel/setup.bash` (For ROS1) & `source install/setup.bash` (for ROS2)
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<!--
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7. `cd ~`
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8. `git clone https://github.com/luxonis/depthai-core.git --branch develop`
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9. `cd ~/depthai-core`
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10. `mkdir build`
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11. `cmake .. -D BUILD_SHARED_LIBS=ON`
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12. `cmake --build . --parallel --config Release --target install`
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13. `cd ~`
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14. `mkdir -p dai_ws/src`
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15. `cd dai_ws/src`
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16. `git clone https://github.com/luxonis/depthai-ros.git --branch noetic-devel`
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17. `git clone https://github.com/luxonis/depthai-ros-examples.git --branch noetic-devel`
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18. `git clone https://github.com/ros-perception/vision_msgs.git --branch noetic-devel`
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19. `cd ~/dai_ws`
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20. `source /opt/ros/<ros-distro>/setup.zsh`
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21. `catkin_make_isolated --cmake-args -D depthai_DIR=${depthai-core insall directory}/lib/cmake/depthai` -->
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<!-- 1. `cd ~`
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2. `git clone --recursive https://github.com/luxonis/depthai-core.git --branch develop`
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3. `cd ~/depthai-core`
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4. `mkdir build`
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5. `cd build`
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6. `cmake .. -DBUILD_SHARED_LIBS=ON`
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7. `cmake --build . --config Release --target install`
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8. `cd ~`
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9. `mkdir -p dai_ws/src`
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10. `cd dai_ws/src`
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11. `git clone https://github.com/luxonis/depthai-ros.git --branch noetic-devel`
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12. `git clone https://github.com/luxonis/depthai-ros-examples.git --branch noetic-devel`
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13. `git clone https://github.com/ros-perception/vision_msgs.git --branch noetic-devel`
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14. `cd ~/dai_ws`
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15. `source /opt/ros/<ros-distro>/setup.bash` or `source /opt/ros/<ros-distro>/setup.zsh` if using zsh instead of bash
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16. `catkin_make_isolated --cmake-args -Ddepthai_DIR=~/depthai-core/build/install/lib/cmake/depthai` (Melodic)
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17. `catkin_make_isolated --cmake-args -D depthai_DIR=~/depthai-core/build/install/lib/cmake/depthai` (Noetic) -->
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## Executing an example
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### ROS1
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1. `cd dai_ws` (Our workspace)
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2. `source devel/setup.bash`
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3. `roslaunch depthai_examples stereo_inertial_node.launch` - example node
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For more examples please check the launch files.
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### ROS2
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1. `cd dai_ws` (Our workspace)
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2. `source install/setup.bash`
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3. `ros2 launch depthai_examples stereo_inertial_node.launch.py` - example node
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For more examples please check the launch files.
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## Running Examples
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### Mobilenet Publisher:
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#### ROS1:
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##### OAK-D
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```
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roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D
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```
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##### OAK-D-LITE
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```
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roslaunch depthai_examples mobile_publisher.launch camera_model:=OAK-D-LITE
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```
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##### With visualizer
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```
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roslaunch depthai_examples mobile_publisher.launch | rqt_image_view -t /mobilenet_publisher/color/image
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```
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#### ROS2:
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##### OAK-D
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```
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ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D
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```
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##### OAK-D-LITE
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```
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ros2 launch depthai_examples mobile_publisher.launch.py camera_model:=OAK-D-LITE
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```
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### Testing results
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- ImageConverter - Tested using `roslaunch depthai_examples stereo_inertial_node.launch` && `roslaunch depthai_examples rgb_publisher.launch`'
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- ImgDetectionCnverter - tested using `roslaunch depthai_examples mobile_publisher.launch`
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- SpatialImgDetectionConverter - Ntested using `roslaunch depthai_examples stereo_inertial_node.launch`
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### Users can write Custom converters and plug them in for bridge Publisher.
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If there a standard Message or usecase for which we have not provided a ros msg or
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converter feel free to create a issue or reach out to us on our discord community. We would be happy to add more.

‎depthai-ros/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package depthai-ros
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.5.3 (2022-08-21)
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-----------
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* Updated release version
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* Contributors: Sachin
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2.5.2 (2022-06-01)
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-------------------
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* Upgraded examples
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* Fixed bugs for Noetic
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2.5.1 (2022-05-20)
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-------------------
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* Fix Build farm issues
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2.5.0 (2022-05-20)
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-------------------
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* Release 2.5.0
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* add ament package:
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* created Bridge and Coverters to handle images, IMU and camera Info
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‎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 2.5.3 LANGUAGES CXX C)
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set(CMAKE_CXX_STANDARD 14)
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find_package(ament_cmake QUIET)
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if ( ament_cmake_FOUND )
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ament_package()
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elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE )
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find_package(catkin REQUIRED)
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catkin_metapackage()
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endif()

‎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>2.5.3</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 -->
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<!-- Example: -->
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<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
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<maintainer email="[email protected]">sachin</maintainer>
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<author>Sachin Guruswamy</author>
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<license>MIT</license>
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<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
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<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
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<exec_depend>depthai</exec_depend>
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<exec_depend>depthai_ros_msgs</exec_depend>
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<exec_depend>depthai_bridge</exec_depend>
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<exec_depend>depthai_examples</exec_depend>
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<export>
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<build_type condition="$ROS_VERSION == 1">catkin</build_type>
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<build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
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</export>
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</package>

‎depthai_bridge/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package depthai_bridge
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.5.3 (2022-08-21)
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-----------
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* Updated release version
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* Merge remote-tracking branch 'origin/main' into ros-release
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* Timestamp update (`#129 <https://github.com/luxonis/depthai-ros/issues/129>`_)
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* Updated timestamp style
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* Changed Loglevel Namesapce
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* Fixed seg fault in yolo detections
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* Updated mobilenet center position
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* Fix for spatial detection for noetic (`#120 <https://github.com/luxonis/depthai-ros/issues/120>`_)
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* moved the depthai bridge position of find package
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* Updated condition for spatial detection for ros1
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"
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* moved the depthai bridge position of find package (`#115 <https://github.com/luxonis/depthai-ros/issues/115>`_)
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* Contributors: Sachin, Sachin Guruswamy
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2.5.2 (2022-06-01)
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-------------------
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* Upgraded examples
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* Fixed bugs for Noetic
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2.5.1 (2022-05-20)
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-------------------
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* Fix Build farm issues
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2.5.0 (2022-05-20)
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-------------------
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* Release 2.5.0
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* add ament package:
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* created Bridge and Coverters to handle images, IMU and camera Info
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