v3.0.5-kilted

First official release

Changes

• Updating to DepthAI V3
• Switching to Camera nodes instead of Mono/Color cams
• Updated socket/frame naming to reflect different devices and configurations. In rs_mode they adhere to Realsense naming and for specific devices, such as OAK-T or OAK-D-SR-PoE have names related to actual sensors, i.e. tof instead of rgb
• IMU publishing now in RDF frame across the board
• Using TFPublisher instead of URDF description by default for more accurate results
• Undistorted streams can now be requested
• depthai_examples have been largely modjified to remove deprecated examples and simplify code. List of current examples:
  • rgbd_spatial_detections
  • feature_tracker
  • converter_to_cv
  • imu_publisher
  • rgb_publisher
  • rgbd_publisher
  • rgb_subscriber
  • rgb_compressed_publisher
  • disparity_publisher
  • detection_publisher
  • tof_publisher
  • tof_rgbd
  • thermal_publisher
• Tests added for converters in depthai_bridge
• NN creation simplified both in depthai_examples and depthai_ros_driver
  • i_nn_family parameter corresponds to nn_kind (WARNING, this might be renamed in the future)
  • i_nn_model is an actual model that is passed to the NN
• RGBD Node and Pointcloud converter have been added
• Thermal node added
• deprecated camera.launch.py in favor of driver.launch.py
• Main node of depthai_ros_driver has been renamed from camera to driver which might impact parameter passing (in your current YAML file, replace camera with driver
• i_mx_id has been replaced by i_device_id
• Parameters related to pipeline creation have been moved to PipelineGen PH:
  • i_pipeline_type
  • i_nn_type
  • i_enable_rgbd
• Pipeline plugin creation method has now signature

    virtual std::vector<std::unique_ptr<dai_nodes::BaseNode>> createPipeline(std::shared_ptr<rclcpp::Node> node,
                                                                             std::shared_ptr<dai::Device> device,
                                                                             std::shared_ptr<dai::Pipeline> pipeline,
                                                                             std::shared_ptr<param_handlers::PipelineGenParamHandler> ph,
                                                                             const std::string& deviceName,
                                                                             bool rsCompat,
                                                                             const std::string& nnType) = 0;

• Mono/ColorCamera nodes have been removed in favor of common Camera node. This means that there is no need to specify ISP scaling or to choose which output from camera node is needed. Currently Camera sensor nodes can have a single output, in future additional output options will be added.
• Undistorted stream can be requested by setting i_undistorted and choosing i_resize_mode
• Default size for camera outputs has been updated to 640x400 for improved performance
• RGBD node has been added for publishing RGBD pointclouds with improved performance (no external nodes are needed)
• XLinkOut nodes are no longer necessary
• TF Frames for base_frame and parent frame have been changed to NodeName and oak_parent_frame respectively

Usage

To use this distribution, you can either wait for an official release (with the release of depthai-core). It is also possible to use testing repsitory as mentioned here.
Additional option is to build from source, for that you can refer to Kilted dockerfile

Known issues

• Subscribing to topics in driver will most likely result in errors now as correct conversion of different frame types needs to be added
• Segmentation network only works for RVC2 devices for now
• For RVC4 devices you can use only COPY as ImuSyncMethod
• Driver does not yet output uncolored pointclouds
• Setting image orientation is not yet supported
• RGBD node doesn't have GPU support yet
• IR driver detection does not work properly on RVC4