2.10.2

luxonis · Sep 26, 2024 · 0132ced · 0132ced
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diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
@@ -2,6 +2,12 @@
 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
+
 2.10.1 (2024-09-18)
 -------------------
 * Fix ToF synced publishing

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 2.10.1 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.10.2 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>2.10.1</version>
+  <version>2.10.2</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 2.10.1 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.10.2 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

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>2.10.1</version>
+  <version>2.10.2</version>
   <description>The depthai_bridge package</description>
 
   <maintainer email="adam.serafin@luxonis.com">Adam Serafin</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 2.10.1)
+project(depthai_descriptions VERSION 2.10.2)
 
 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>2.10.1</version>
+  <version>2.10.2</version>
   <description>The depthai_descriptions package</description>
 
   <maintainer email="adam.serafin@luxonis.com">Adam Serafin</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 2.10.1 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.10.2 LANGUAGES CXX C)
 
 set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

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>2.10.1</version>
+  <version>2.10.2</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 2.10.1 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.10.2 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/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>2.10.1</version>
+  <version>2.10.2</version>
   <description>Depthai filters package</description>
   <maintainer email="adam.serafin@luxonis.com">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 2.10.1)
+project(depthai_ros_driver VERSION 2.10.2)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_BUILD_SHARED_LIBS ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

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>2.10.1</version>
+  <version>2.10.2</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>
 

diff --git a/depthai_ros_driver/src/camera.cpp b/depthai_ros_driver/src/camera.cpp
@@ -78,20 +78,11 @@ void Camera::diagCB(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg)
 }
 
 void Camera::start() {
-    bool success = false;
-    while(!success) {
-        try {
-            RCLCPP_INFO(this->get_logger(), "Starting camera.");
-            if(!camRunning) {
-                onConfigure();
-            } else {
-                RCLCPP_INFO(this->get_logger(), "Camera already running!.");
-            }
-            success = true;
-        } catch(const std::exception& e) {
-            RCLCPP_ERROR(this->get_logger(), "Exception occurred: %s. Retry", e.what());
-            camRunning = false;
-        }
+    RCLCPP_INFO(this->get_logger(), "Starting camera.");
+    if(!camRunning) {
+        onConfigure();
+    } else {
+        RCLCPP_INFO(this->get_logger(), "Camera already running!.");
     }
 }
 

diff --git a/depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp b/depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp
@@ -124,7 +124,6 @@ void ImagePublisher::createInfoManager(std::shared_ptr<dai::Device> device) {
         auto info = sensor_helpers::getCalibInfo(node->get_logger(), 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);

diff --git a/depthai_ros_driver/src/dai_nodes/sensors/sensor_wrapper.cpp b/depthai_ros_driver/src/dai_nodes/sensors/sensor_wrapper.cpp
@@ -33,9 +33,9 @@ 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")) {
         RCLCPP_INFO(getROSNode()->get_logger(), "Disabling node %s, pipeline data taken from topic.", getName().c_str());
     } else {

diff --git a/depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp b/depthai_ros_driver/src/dai_nodes/sensors/stereo.cpp
@@ -44,7 +44,7 @@ Stereo::Stereo(const std::string& daiNodeName,
             continue;
         }
     }
-    RCLCPP_DEBUG(getLogger(),
+    RCLCPP_INFO(getLogger(),
                  "Creating stereo node with left sensor %s and right sensor %s",
                  getSocketName(leftSensInfo.socket).c_str(),
                  getSocketName(rightSensInfo.socket).c_str());

diff --git a/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp b/depthai_ros_driver/src/param_handlers/sensor_param_handler.cpp
@@ -30,7 +30,7 @@ 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);

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 2.10.1)
+project(depthai_ros_msgs VERSION 2.10.2)
 
 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>2.10.1</version>
+  <version>2.10.2</version>
   <description>Package to keep interface independent of the driver</description>
 
   <maintainer email="adam.serafin@luxonis.com">Adam Serafin</maintainer>