Porting depthai_ros v2.7.1 to Foxy (#224)

.devcontainer/devcontainer.json

@@ -0,0 +1,46 @@
+// See https://aka.ms/vscode-remote/devcontainer.json for format details.
+{
+	"dockerFile": "../src/depthai-ros/Dockerfile",
+	"build": {
+		"args": {"BUILD_SEQUENTIAL": "1",
+				 "USE_RVIZ": "1"}
+	},
+	"remoteUser": "root",
+	"runArgs": [
+		"--device=/dev/ttyUSB0",
+		"--privileged",
+		"--network=host",
+		"--cap-add=SYS_PTRACE",
+		"--security-opt=seccomp:unconfined",
+		"--security-opt=apparmor:unconfined",
+		"--volume=/dev:/dev",
+		"--volume=/tmp/.X11-unix:/tmp/.X11-unix"
+	],
+	"containerEnv": { "DISPLAY": "${localEnv:DISPLAY}" },
+	// Set *default* container specific settings.json values on container create.
+	"settings": {
+		"terminal.integrated.profiles.linux": {
+			"zsh": {
+				"path": "zsh"
+			},
+			"bash": {
+				"path": "bash"
+			}
+
+		},
+		"terminal.integrated.defaultProfile.linux": "zsh"
+	},
+	"extensions": [
+		"dotjoshjohnson.xml",
+		"ms-azuretools.vscode-docker",
+		"ms-iot.vscode-ros",
+		"ms-python.python",
+		"ms-vscode.cpptools",
+		"redhat.vscode-yaml",
+		"smilerobotics.urdf",
+		"streetsidesoftware.code-spell-checker",
+		"twxs.cmake",
+		"yzhang.markdown-all-in-one",
+		"augustocdias.tasks-shell-input"
+	]
+}

.github/ISSUE_TEMPLATE/bug_report.md

@@ -18,6 +18,11 @@ A clear and concise description of what the bug is.
 **Minimal Reproducible Example**
 Append the MRE to the bug report, [instructions here](https://docs.luxonis.com/en/latest/pages/support/#creating-minimal-reproducible-example)
 
+If available launch files don't work in your case, please check if you also get errors while running:
+- `stereo_inertial_node` in `depthai_examples`
+- `camera` in `depthai_ros_driver`
+- In case both fail to run, please check if you can run [the default python demo app](https://docs.luxonis.com/en/latest/#demo-script)
+
 **Expected behavior**
 A clear and concise description of what you expected to happen.
 
@@ -28,10 +33,16 @@ If applicable, add screenshots to help explain your problem.
 
 Please also provide a screenshot of your pipeline using the [DepthAI Pipeline Graph](https://github.com/geaxgx/depthai_pipeline_graph).
 
+You can save it in `depthai_ros_driver`, either by calling `/save_pipeline` ROS service, or by setting parameter `camera.i_pipeline_dump` in ROS 2 or `camera_i_pipeline_dump` in ROS. Pipeline dump is saved to `/tmp/pipeline.json`.
+
 **Attach system log**
  - Provide output of [log_system_information.py](https://github.com/luxonis/depthai/blob/main/log_system_information.py)
  - Which OS/OS version are you using?
  - Which ROS version are you using?
+ - Is `depthai-ros` built from source or installed from apt?
+ - Is `depthai/depthai-core` library installed from rosdep or manually? For rosdep install, check if `ros-<rosdistro>-depthai` package is installed, manual install can be checked with `ldconfig -p | grep depthai`
+ - Please include versions of following packages - `apt show ros-$ROS_DISTRO-depthai ros-$ROS_DISTRO-depthai-ros ros-$ROS_DISTRO-depthai-bridge ros-$ROS_DISTRO-depthai-ros-msgs ros-$ROS_DISTRO-depthai-ros-driver`
+ - To get additional logs, set `DEPTHAI_DEBUG=1` and paste the logs, either from command line or from latest log in `~/.ros/log`
 
 **Additional context**
 Add any other context about the problem here.

.github/workflows/main.workflow.yml

@@ -27,8 +27,8 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-    - uses: actions/checkout@v2.3.4
-    - uses: ros-tooling/setup-ros@0.4.1
+    - uses: actions/checkout@v3.3.0
+    - uses: ros-tooling/setup-ros@0.5.0
       with:
         required-ros-distributions: ${{ env.ROS_DISTRO }}
     - uses: ros-tooling/[email protected]
@@ -49,8 +49,8 @@ jobs:
       matrix:
         linter: [xmllint, pep257, lint_cmake]
     steps:
-    - uses: actions/checkout@v2.3.4
-    - uses: ros-tooling/setup-ros@0.4.1
+    - uses: actions/checkout@v3.3.0
+    - uses: ros-tooling/setup-ros@0.5.0
       with:
         required-ros-distributions: ${{ env.ROS_DISTRO }}
     - uses: ros-tooling/[email protected]
@@ -116,5 +116,5 @@ jobs:
           push: ${{ env.PUSH }}
           no-cache: true
           tags: | 
-            luxonis/depthai-ros:${{ env.ROS_DISTRO }}-${{ steps.vars.outputs.short_ref }}
+            luxonis/depthai-ros:${{ steps.vars.outputs.short_ref }}
             luxonis/depthai-ros:${{ env.ROS_DISTRO }}-latest

.gitignore

@@ -1,4 +1,3 @@
-*.json
 .vscode
 devel
 __pycache__

Dockerfile

@@ -1,23 +1,25 @@
-ARG ROS_DISTRO=humble
+ARG ROS_DISTRO=foxy
 FROM ros:${ROS_DISTRO}-ros-base
 ARG USE_RVIZ
 ARG BUILD_SEQUENTIAL=0
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
    && apt-get -y install --no-install-recommends software-properties-common git libusb-1.0-0-dev wget zsh python3-colcon-common-extensions
 
+
 ENV DEBIAN_FRONTEND=dialog
 RUN sh -c "$(wget https://raw.github.com/ohmyzsh/ohmyzsh/master/tools/install.sh -O -)"
 
 ENV WS=/ws
 RUN mkdir -p $WS/src
-COPY ./ .$WS/src/depthai_ros
-RUN cd .$WS/ && rosdep install --from-paths src --ignore-src -y
-RUN if [ "$BUILD_SEQUENTIAL" = "1" ] ; then cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --executor sequential --cmake-args -DCMAKE_BUILD_TYPE=Release ; else cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release; fi
+COPY ./ .$WS/src/depthai-ros
+RUN cd .$WS/ && rosdep install --from-paths src --ignore-src  -y
+
+RUN cd .$WS/ && . /opt/ros/${ROS_DISTRO}/setup.sh && ./src/depthai-ros/build.sh -s $BUILD_SEQUENTIAL -r 1 -m 1 
 RUN if [ "$USE_RVIZ" = "1" ] ; then echo "RVIZ ENABLED" && sudo apt install -y ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-rviz-imu-plugin ; else echo "RVIZ NOT ENABLED"; fi
 RUN echo "if [ -f ${WS}/install/setup.zsh ]; then source ${WS}/install/setup.zsh; fi" >> $HOME/.zshrc
 RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> $HOME/.zshrc
 RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> $HOME/.zshrc
 RUN echo "if [ -f ${WS}/install/setup.bash ]; then source ${WS}/install/setup.bash; fi" >> $HOME/.bashrc
-ENTRYPOINT [ "/ws/src/depthai_ros/entrypoint.sh" ]
+ENTRYPOINT [ "/ws/src/depthai-ros/entrypoint.sh" ]
 CMD ["zsh"]