Dev (#1)

* working ffmpeg and namespaces

.github/workflows/snap.yaml

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+name: snap
+on:
+  push:
+    tags:
+      - '*'
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    outputs:
+      snap-file: ${{ steps.build-snap.outputs.snap }}
+    steps:
+
+    - uses: actions/checkout@v3
+      with:
+        fetch-tags: true
+
+    # Build the snap
+    - uses: snapcore/action-build@v1
+      with:
+        snapcraft-channel: latest/edge
+      id: build-snap
+      env:
+        SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS: 1
+
+    # Make sure the snap is installable
+    - run: |
+        sudo snap install --dangerous ${{ steps.build-snap.outputs.snap }}
+
+    # Save snap for subsequent job(s)
+    - uses: actions/upload-artifact@v3
+      with:
+        name: husarion-depthai-snap
+        path: ${{ steps.build-snap.outputs.snap }}
+
+  publish:
+    if: github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/')
+    needs: build
+    runs-on: ubuntu-latest
+    steps:
+
+    # Retrieve the snap
+    - uses: actions/download-artifact@v3
+      with:
+        name: husarion-depthai-snap
+        path: .
+
+    # Publish the snap on the store
+    # by default on 'edge' but on 'candidate' for tags
+    - uses: snapcore/action-publish@v1
+      env:
+        SNAPCRAFT_STORE_CREDENTIALS: ${{ secrets.STORE_LOGIN }}
+      with:
+        snap: ${{needs.build.outputs.snap-file}}
+        release: ${{ startsWith(github.ref, 'refs/tags/') && 'candidate' || 'edge'}}

.gitignore

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 squashfs-root/
-husarion-depthai*
+husarion-depthai*
+exported.txt

README.md

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-# depthai-snap
-Building husarion-depthai snap for depthai-ros package
+# husarion-depthai-snap
+
+Snap for OAK-x cameras customized for Husarion robots
+
+## Apps
+
+| app | description |
+| - | - |
+| `husarion-depthai.start` | Start the `husarion-depthai.daemon` service |
+| `husarion-depthai.stop` | Stop the `husarion-depthai.daemon` service |
+| `husarion-depthai` | Start the application in the foreground (run in the current terminal). Remember to stop the daemon first |
+
+## Setup FFMPEG
+
+The default values for `ffmpeg-image-transport` are:
+
+```bash
+$ sudo snap get husarion-depthai driver.ffmpeg-image-transport
+Key                                     Value
+driver.ffmpeg-image-transport.encoding  libx264
+driver.ffmpeg-image-transport.preset    ultrafast
+driver.ffmpeg-image-transport.tune      zerolatency
+```
+
+to check available options run:
+
+```bash
+ffmpeg -encoders
+```
+
+find the list of available presets by running
+
+```bash
+ffmpeg -h encoder=$SELECTED_ENCODER`
+```
+
+## Setup Astra Params
+
+Default astra params are stored in the following file:
+
+```bash
+$ sudo snap get husarion-depthai driver.params-file
+/var/snap/husarion-depthai/common/depthai_params.yaml
+```
+
+The default `depthai_params.yaml` file content:
+
+```yaml
+---
+/**:
+  ros__parameters:
+    camera:
+      i_calibration_dump: false
+      i_enable_imu: false
+      i_enable_ir: false
+      i_external_calibration_path: ''
+      i_floodlight_brightness: 0
+      i_ip: ''
+      i_laser_dot_brightness: 800
+      i_mx_id: ''
+      i_nn_type: none
+      i_pipeline_dump: false
+      i_pipeline_type: RGB
+      i_publish_tf_from_calibration: false
+      i_restart_on_diagnostics_error: false
+      i_usb_port_id: ''
+      i_usb_speed: SUPER_PLUS
+    diagnostic_updater:
+      period: 1.0
+    imu:
+      i_acc_cov: 0.0
+      i_acc_freq: 400
+      i_batch_report_threshold: 5
+      i_enable_rotation: false
+      i_get_base_device_timestamp: false
+      i_gyro_cov: 0.0
+      i_gyro_freq: 400
+      i_mag_cov: 0.0
+      i_max_batch_reports: 10
+      i_message_type: IMU
+      i_rot_cov: -1.0
+      i_sync_method: LINEAR_INTERPOLATE_ACCEL
+      i_update_ros_base_time_on_ros_msg: false
+    rgb:
+      i_add_exposure_offset: false
+      i_board_socket_id: 0
+      i_calibration_file: ''
+      i_disable_node: false
+      i_enable_feature_tracker: false
+      i_enable_lazy_publisher: false #true
+      i_enable_nn: false
+      i_enable_preview: false
+      i_exposure_offset: 0
+      i_fps: 20.0
+      i_fsync_continuous: false
+      i_fsync_trigger: false
+      i_get_base_device_timestamp: false
+      i_height: 432 #720
+      i_interleaved: false
+      i_isp_den: 5 #3 #3 valid if i_output_isp: true
+      i_isp_num: 2 #2 valid if i_output_isp: true
+      i_keep_preview_aspect_ratio: true
+      i_low_bandwidth: true #false
+      i_low_bandwidth_quality: 20
+      i_max_q_size: 30
+      i_output_isp: true
+      i_preview_height: 300
+      i_preview_size: 300
+      i_preview_width: 300
+      i_publish_topic: true
+      i_resolution: 1080P
+      i_reverse_stereo_socket_order: false
+      i_sensor_img_orientation: AUTO
+      i_set_isp3a_fps: false
+      i_set_isp_scale: true
+      i_simulate_from_topic: false
+      i_simulated_topic_name: ''
+      i_update_ros_base_time_on_ros_msg: false
+      i_width: 768 #1280
+      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
+
+```
+
+To set a new params create a copy of the `astra-params.yaml` file:
+
+```bash
+sudo cp \
+/var/snap/husarion-depthai/common/depthai_params.yaml \
+/var/snap/husarion-depthai/common/depthai_params2.yaml
+```
+
+Modify the content of the `astra-params2.yaml` file, eg:
+
+```bash
+sudo vim /var/snap/husarion-depthai/common/depthai_params2.yaml
+```
+
+And set the new path to the config file:
+
+```bash
+sudo snap set husarion-depthai driver.params-file=/var/snap/husarion-depthai/common/depthai_params2.yaml
+```

demo/compose.yaml

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+# services:
+#   luxonis:
+#     image: husarion/depthai:humble-2.8.1-20240127
+#     volumes:
+#       - /dev/bus/usb:/dev/bus/usb
+#       - ./squashfs-root/usr/share/husarion-depthai/config/oak-1-low-bandwidth.yaml:/params.yaml
+#     device_cgroup_rules:
+#       - 'c 189:* rmw'
+#     command: >
+#       ros2 launch depthai_ros_driver camera.launch.py
+#         params_file:=/params.yaml
+
+# x-common-config:
+#   &common-config
+#   network_mode: host
+#   ipc: host
+#   restart: unless-stopped
+
+# x-dds-envs:
+#   &dds-envs
+#   env_file: .env.dds
+
+services:
+
+  rviz:
+    image: husarion/rviz2:humble-11.2.9-20240111
+    network_mode: host
+    ipc: host
+    runtime: ${DOCKER_RUNTIME:-runc}
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./default.rviz:/default.rviz
+      - ./rviz.launch.py:/rviz.launch.py
+    environment:
+      - DISPLAY=${DISPLAY:?err}
+      - LIBGL_ALWAYS_SOFTWARE=${LIBGL_ALWAYS_SOFTWARE:-1}
+      - NVIDIA_VISIBLE_DEVICES=all # if LIBGL_ALWAYS_SOFTWARE=1 this env var is ignored
+      - NVIDIA_DRIVER_CAPABILITIES=all # if LIBGL_ALWAYS_SOFTWARE=1 this env var is ignored
+    command: ros2 launch /rviz.launch.py
+