luxonis · Serafadam · Sep 19, 2024 · Sep 18, 2024 · Sep 18, 2024
diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
@@ -2,9 +2,14 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.10.1 (2024-09-18)
+-------------------
+* Fix ToF synced publishing
+* Add camera_info publishing when publishing compressed images
+* Catch errors when starting the device
+
 2.10.0 (2024-08-29)
 -------------------
-## What's Changed
 * Adding stl files for SR and LR models by @danilo-pejovic in https://github.com/luxonis/depthai-ros/pull/491
 * No imu fix Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/500
 * Tracking converter for ROS2 Humble by @daniqsilva25 in https://github.com/luxonis/depthai-ros/pull/505
@@ -20,13 +25,6 @@ Changelog for package depthai-ros
 * WLS fix humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/582
 * Syncing & RS updates Humble by @Serafadam in https://github.com/luxonis/depthai-ros/pull/586
 
-## New Contributors
-* @r4hul77 made their first contribution in https://github.com/luxonis/depthai-ros/pull/507
-* @Nibanovic made their first contribution in https://github.com/luxonis/depthai-ros/pull/511
-* @destogl made their first contribution in https://github.com/luxonis/depthai-ros/pull/524
-
-**Full Changelog**: https://github.com/luxonis/depthai-ros/compare/v2.9.0-humble...v2.10.0-humble
-
 2.9.0 (2024-01-24)
 -------------------
 

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 2.10.0 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.10.1 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>2.10.0</version>
+  <version>2.10.1</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 2.10.0 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.10.1 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>2.10.0</version>
+  <version>2.10.1</version>
   <description>The depthai_bridge package</description>
 
   <maintainer email="[email protected]">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 2.10.0)
+project(depthai_descriptions VERSION 2.10.1)
 
 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>2.10.0</version>
+  <version>2.10.1</version>
   <description>The depthai_descriptions package</description>
 
   <maintainer email="[email protected]">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 2.10.0 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.10.1 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>2.10.0</version>
+  <version>2.10.1</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 2.10.0 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.10.1 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>2.10.0</version>
+  <version>2.10.1</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 2.10.0)
+project(depthai_ros_driver VERSION 2.10.1)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_BUILD_SHARED_LIBS ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

diff --git a/depthai_ros_driver/config/sr_poe_rgbd.yaml b/depthai_ros_driver/config/sr_poe_rgbd.yaml
@@ -6,5 +6,10 @@
       i_enable_ir: false
       i_nn_type: none
       i_pipeline_type: rgbtof
+    pipeline_gen:
+      i_enable_sync: true
     right:
       i_low_bandwidth: true
+      i_synced: true
+    tof:
+      i_synced: true
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>2.10.0</version>
+  <version>2.10.1</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
 

diff --git a/depthai_ros_driver/src/camera.cpp b/depthai_ros_driver/src/camera.cpp
@@ -15,7 +15,7 @@ Camera::Camera(const rclcpp::NodeOptions& options) : rclcpp::Node("camera", opti
     startTimer = this->create_wall_timer(std::chrono::seconds(1), [this]() {
         ph = std::make_unique<param_handlers::CameraParamHandler>(shared_from_this(), "camera");
         ph->declareParams();
-        onConfigure();
+        start();
         startTimer->cancel();
     });
     rclcpp::on_shutdown([this]() { stop(); });
@@ -78,11 +78,20 @@ void Camera::diagCB(const diagnostic_msgs::msg::DiagnosticArray::SharedPtr msg)
 }
 
 void Camera::start() {
-    RCLCPP_INFO(get_logger(), "Starting camera.");
-    if(!camRunning) {
-        onConfigure();
-    } else {
-        RCLCPP_INFO(get_logger(), "Camera already running!.");
+    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;
+        }
     }
 }
 

diff --git a/depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp b/depthai_ros_driver/src/dai_nodes/sensors/img_pub.cpp
@@ -185,6 +185,7 @@ void ImagePublisher::publish(std::shared_ptr<Image> img) {
         } else {
             ffmpegPub->publish(std::move(img->ffmpegPacket));
         }
+        infoPub->publish(std::move(img->info));
     } else {
         if(ipcEnabled && (!pubConfig.lazyPub || detectSubscription(imgPub, infoPub))) {
             imgPub->publish(std::move(img->image));

diff --git a/depthai_ros_driver/src/param_handlers/tof_param_handler.cpp b/depthai_ros_driver/src/param_handlers/tof_param_handler.cpp
@@ -19,7 +19,7 @@ ToFParamHandler::ToFParamHandler(std::shared_ptr<rclcpp::Node> node, const std::
 ToFParamHandler::~ToFParamHandler() = default;
 void ToFParamHandler::declareParams(std::shared_ptr<dai::node::Camera> cam, std::shared_ptr<dai::node::ToF> tof) {
     declareAndLogParam<bool>("i_publish_topic", true);
-    declareAndLogParam<bool>("i_synced", true);
+    declareAndLogParam<bool>("i_synced", false);
     declareAndLogParam<bool>("i_low_bandwidth", false);
     declareAndLogParam<int>("i_low_bandwidth_profile", 4);
     declareAndLogParam<int>("i_low_bandwidth_bitrate", 0);

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 2.10.0)
+project(depthai_ros_msgs VERSION 2.10.1)
 
 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>2.10.0</version>
+  <version>2.10.1</version>
   <description>Package to keep interface independent of the driver</description>
 
   <maintainer email="[email protected]">Adam Serafin</maintainer>