Pre-release 2.8.0 (#384)

luxonis · Sep 5, 2023 · 7233130 · 7233130
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diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.8.0 (2023-09-01)
+-------------------
+* Add camera image orientation param 
+* Performance update
+* Feature tracker
+* Handle USB speed when usb id is specified
+* Change misleading error to a clearer message
+* Watchdog 
+* Depth alignment update 
+* Synced stereo streams
+* Lazy Publishing 
+* Urdf loader
+* Add exposure offset
+
 2.7.5 (2023-08-07)
 -------------------
 * IMU sync fix

diff --git a/depthai-ros/CMakeLists.txt b/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 2.7.5 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.8.0 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 

diff --git a/depthai-ros/package.xml b/depthai-ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai-ros</name>
-  <version>2.7.5</version>
+  <version>2.8.0</version>
   <description>The depthai-ros package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

diff --git a/depthai_bridge/CMakeLists.txt b/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 2.7.5 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.8.0 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

diff --git a/depthai_bridge/package.xml b/depthai_bridge/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_bridge</name>
-  <version>2.7.5</version>
+  <version>2.8.0</version>
   <description>The depthai_bridge package</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

diff --git a/depthai_descriptions/CMakeLists.txt b/depthai_descriptions/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(depthai_descriptions VERSION 2.7.5)
+project(depthai_descriptions VERSION 2.8.0)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

diff --git a/depthai_descriptions/package.xml b/depthai_descriptions/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_descriptions</name>
-  <version>2.7.5</version>
+  <version>2.8.0</version>
   <description>The depthai_descriptions package</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

diff --git a/depthai_examples/CMakeLists.txt b/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 2.7.5 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.8.0 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

diff --git a/depthai_examples/package.xml b/depthai_examples/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_examples</name>
-  <version>2.7.5</version>
+  <version>2.8.0</version>
   <description>The depthai_examples package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

diff --git a/depthai_filters/CMakeLists.txt b/depthai_filters/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(depthai_filters VERSION 2.7.5 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.8.0 LANGUAGES CXX C)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

diff --git a/depthai_filters/launch/spatial_bb.launch.py b/depthai_filters/launch/spatial_bb.launch.py
@@ -28,10 +28,13 @@ def launch_setup(context, *args, **kwargs):
                     ComposableNode(
                         package="depthai_filters",
                         plugin="depthai_filters::SpatialBB",
+                        name="spatial_bb_node",
                         remappings=[
                                     ('stereo/camera_info', name+'/stereo/camera_info'),
                                     ('nn/spatial_detections', name+'/nn/spatial_detections'),
-                                    ('rgb/preview/image_raw', name+'/rgb/preview/image_raw')]
+                                    ('rgb/preview/image_raw', name+'/rgb/preview/image_raw'),
+                                    ],
+                        parameters=[params_file],
                     ),
             ],
         ),

diff --git a/depthai_filters/package.xml b/depthai_filters/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_filters</name>
-  <version>2.7.5</version>
+  <version>2.8.0</version>
   <description>Depthai filters package</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
   <license>MIT</license>

diff --git a/depthai_ros_driver/CMakeLists.txt b/depthai_ros_driver/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(depthai_ros_driver VERSION 2.7.5)
+project(depthai_ros_driver VERSION 2.8.0)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_BUILD_SHARED_LIBS ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

diff --git a/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/base_node.hpp b/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/base_node.hpp
@@ -3,13 +3,11 @@
 #include <memory>
 #include <string>
 
-#include "depthai-shared/common/CameraBoardSocket.hpp"
 #include "depthai/pipeline/Node.hpp"
 
 namespace dai {
 class Pipeline;
 class Device;
-class CameraFeatures;
 }  // namespace dai
 
 namespace rclcpp {

diff --git a/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/sensors/sensor_helpers.hpp b/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/sensors/sensor_helpers.hpp
@@ -44,8 +44,6 @@ struct ImageSensor {
 };
 extern std::vector<ImageSensor> availableSensors;
 
-extern std::unordered_map<std::string, dai::ColorCameraProperties::SensorResolution> stringToColorResMap;
-
 void basicCameraPub(const std::string& /*name*/,
                     const std::shared_ptr<dai::ADatatype>& data,
                     dai::ros::ImageConverter& converter,

diff --git a/depthai_ros_driver/package.xml b/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>2.7.5</version>
+  <version>2.8.0</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

diff --git a/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp b/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp
@@ -35,8 +35,6 @@ StereoParamHandler::StereoParamHandler(rclcpp::Node* node, const std::string& na
         {"VALID_1_IN_LAST_8", dai::StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::VALID_1_IN_LAST_8},
         {"PERSISTENCY_INDEFINITELY", dai::StereoDepthConfig::PostProcessing::TemporalFilter::PersistencyMode::PERSISTENCY_INDEFINITELY},
     };
-    declareAndLogParam<int>("i_left_socket_id", static_cast<int>(dai::CameraBoardSocket::CAM_B));
-    declareAndLogParam<int>("i_right_socket_id", static_cast<int>(dai::CameraBoardSocket::CAM_C));
 }
 
 StereoParamHandler::~StereoParamHandler() = default;

diff --git a/depthai_ros_msgs/CMakeLists.txt b/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 2.7.5)
+project(depthai_ros_msgs VERSION 2.8.0)
 
 if(POLICY CMP0057)
     cmake_policy(SET CMP0057 NEW)

diff --git a/depthai_ros_msgs/package.xml b/depthai_ros_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>depthai_ros_msgs</name>
-  <version>2.7.5</version>
+  <version>2.8.0</version>
   <description>Package to keep interface independent of the driver</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>