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husarion · May 6, 2024 · 2e9090b · 2e9090b
1 parent 0e7b6bd
commit 2e9090b
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Showing 6 changed files with 168 additions and 39 deletions.
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,2 @@
+squashfs-root/
+husarion-depthai*
diff --git a/compose.yaml b/compose.yaml
@@ -0,0 +1,11 @@
+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
diff --git a/snap/local/launcher.sh b/snap/local/launcher.sh
@@ -6,24 +6,26 @@ log() {
     logger -t "${SNAP_NAME}" "launcher: $message"
 }
 
-# Iterate over the snap parameters and retrieve their value.
-# If a value is set, it is forwarded to the launch file.
-OPTIONS="namespace mecanum include-camera-mount camera-model lidar-model"
-LAUNCH_OPTIONS=""
+ros2 launch depthai_ros_driver camera.launch.py params_file:=$SNAP/usr/share/${SNAP_NAME}/config/oak-1-low-bandwidth.yaml
 
-for OPTION in ${OPTIONS}; do
-  VALUE="$(snapctl get driver.${OPTION})"
-  if [ -n "${VALUE}" ]; then
-    LAUNCH_OPTIONS+="${OPTION}:=${VALUE} "
-  fi
-done
+# # Iterate over the snap parameters and retrieve their value.
+# # If a value is set, it is forwarded to the launch file.
+# OPTIONS="namespace mecanum include-camera-mount camera-model lidar-model"
+# LAUNCH_OPTIONS=""
 
-# Replace '-' with '_'
-LAUNCH_OPTIONS=$(echo ${LAUNCH_OPTIONS} | tr - _)
+# for OPTION in ${OPTIONS}; do
+#   VALUE="$(snapctl get driver.${OPTION})"
+#   if [ -n "${VALUE}" ]; then
+#     LAUNCH_OPTIONS+="${OPTION}:=${VALUE} "
+#   fi
+# done
 
-if [ "${LAUNCH_OPTIONS}" ]; then
-  # watch the log with: "journalctl -t rosbot-xl"
-  log "Running with options: ${LAUNCH_OPTIONS}"
-fi
+# # Replace '-' with '_'
+# LAUNCH_OPTIONS=$(echo ${LAUNCH_OPTIONS} | tr - _)
 
-ros2 launch rosbot_xl_bringup combined.launch.py ${LAUNCH_OPTIONS}
+# if [ "${LAUNCH_OPTIONS}" ]; then
+#   # watch the log with: "journalctl -t rosbot-xl"
+#   log "Running with options: ${LAUNCH_OPTIONS}"
+# fi
+
+# ros2 launch rosbot_xl_bringup combined.launch.py ${LAUNCH_OPTIONS}
diff --git a/snap/local/oak-1-low-bandwidth.yaml b/snap/local/oak-1-low-bandwidth.yaml
@@ -0,0 +1,96 @@
+---
+/oak:
+  ros__parameters:
+    # qos_overrides:
+      # /oak/rgb/image_raw:
+      #   publisher:
+      #     reliability: best_effort
+      # /oak/rgb/image_raw/compressed:
+      #   publisher:
+      #     reliability: best_effort
+    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_width: 1280 #valid if i_output_isp: false
+      # i_height: 720 #valid if i_output_isp: false
+      # i_interleaved: false
+      # scaling 1920x1080 1:3 to 640x360
+      # https://docs-beta.luxonis.com/develop/ros/depthai-ros-driver#Available%20sensors%20and%20their%20resolutions%3A
+      # IMX378, 1080P is 1920x1080, i_isp_den=3 and i_isp_num=2 will give 1280x720 (/16=)
+      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
+    ffmpeg_image_transport:
+      encoding: libx264
+      preset: ultrafast
+      tune: zerolatency
+    use_sim_time: false
diff --git a/snap/local/ros_setup.sh b/snap/local/ros_setup.sh
@@ -9,7 +9,7 @@ log() {
 FASTDDS_FILE=$(snapctl get fastdds-default-profiles-file)
 
 if [ ! -f "${SNAP_COMMON}/${FASTDDS_FILE}" ]; then
-  # eg. /var/snap/rosbot-xl/common/fastdds.xml
+  # eg. /var/snap/${SNAP_NAME}/common/fastdds.xml
   log "${SNAP_COMMON}/${FASTDDS_FILE} does not exist."
 fi
 
@@ -19,16 +19,16 @@ if [ -n "${FASTDDS_FILE}" ] && [ -f "${SNAP_COMMON}/${FASTDDS_FILE}" ]; then
   log "$(cat $FASTRTPS_DEFAULT_PROFILES_FILE)"
 else
   TRANSPORT="$(snapctl get transport)"
-  # watch the log with: "journalctl -t rosbot-xl"
+  # watch the log with: "journalctl -t ${SNAP_NAME}"
   log "transport: ${TRANSPORT}"
 
   case "$TRANSPORT" in
   shm)
-    export FASTRTPS_DEFAULT_PROFILES_FILE=$SNAP/usr/share/rosbot-xl/config/shm-only.xml
+    export FASTRTPS_DEFAULT_PROFILES_FILE=$SNAP/usr/share/${SNAP_NAME}/config/shm-only.xml
     log "$(cat $FASTRTPS_DEFAULT_PROFILES_FILE)"
     ;;
   udp)
-    export FASTRTPS_DEFAULT_PROFILES_FILE=$SNAP/usr/share/rosbot-xl/config/udp-only.xml
+    export FASTRTPS_DEFAULT_PROFILES_FILE=$SNAP/usr/share/${SNAP_NAME}/config/udp-only.xml
     log "$(cat $FASTRTPS_DEFAULT_PROFILES_FILE)"
     ;;
   builtin)

diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
@@ -49,15 +49,16 @@ apps:
     command: usr/bin/launcher.sh
     command-chain: [usr/bin/ros_setup.sh]
     daemon: simple
-    install-mode: enable
-    plugs: [network, network-bind, shm-plug]
+    install-mode: disable
+    plugs: [network, network-bind, shm-plug, raw-usb]
     slots: [shm-slot]
     extensions: [ros2-humble-ros-base]
 
   husarion-depthai:
     command: usr/bin/launcher.sh
     command-chain: [usr/bin/check_daemon_running.sh, usr/bin/ros_setup.sh]
-    plugs: [network, network-bind, shm-plug]
+    plugs: [network, network-bind, shm-plug, raw-usb, system-observe, hardware-observe, network-control, network-observe, camera, browser-support]
+    # block-devices, 
     slots: [shm-slot]
     extensions: [ros2-humble-ros-base]
 
@@ -67,24 +68,41 @@ apps:
   stop:
     command: usr/bin/stop_launcher.sh
 
+layout:
+  /run/udev/data:
+    bind: $SNAP_DATA/run/udev/data
+
 parts:
 
   husarion-depthai:
-    plugin: colcon
-    source: https://github.com/luxonis/depthai-ros.git
-    source-branch: v2.8.1-humble
-    build-packages:
-      - python3-catkin-pkg-modules
-    override-pull: |
+    plugin: nil
+    stage-packages:
+      - ros-humble-depthai-ros
+    # override-stage: |
+    override-prime: |
       craftctl default
 
-      # Set the snap version from the git tag
-      # The grade is set to 'stable' if the latest entry in the git history
-      # is the tag itself, otherwise set to devel
-      version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
-      [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
-      craftctl set version="$version"
-      craftctl set grade="$grade"
+      #version="$(dpkg -s ros-humble-depthai-ros-driver | grep Version | awk '{print $2}')"
+      #craftctl set version="$version"
+      craftctl set version="2.9.0-1jammy.20240415.141623"
+      craftctl set grade="stable"
+
+  # husarion-depthai:
+  #   plugin: colcon
+  #   source: https://github.com/luxonis/depthai-ros.git
+  #   source-branch: v2.8.1-humble
+  #   build-packages:
+  #     - python3-catkin-pkg-modules
+  #   override-pull: |
+  #     craftctl default
+
+  #     # Set the snap version from the git tag
+  #     # The grade is set to 'stable' if the latest entry in the git history
+  #     # is the tag itself, otherwise set to devel
+  #     version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
+  #     [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
+  #     craftctl set version="$version"
+  #     craftctl set grade="$grade"
 
     # build-packages: 
     #   - python3-vcstool
@@ -113,5 +131,5 @@ parts:
     organize:
       '*.sh': usr/bin/
       '*.py': usr/bin/
-      '*.yaml': usr/share/rosbot-xl/config/
-      '*.xml': usr/share/rosbot-xl/config/
+      '*.yaml': usr/share/husarion-depthai/config/
+      '*.xml': usr/share/husarion-depthai/config/