Initial commit

Signed-off-by: Jose Miguel <[email protected]>

.github/workflows/master.yaml

@@ -0,0 +1,34 @@
+name: jazzy
+
+on:
+  pull_request:
+    branches:
+      - jazzy
+  push:
+    branches:
+      - jazzy
+
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    container:
+      image: osrf/ros:jazzy-desktop
+    strategy:
+      matrix:
+        os: [ubuntu-24.04]
+      fail-fast: false
+    steps:
+      - name: Install deps
+        run: sudo apt-get update && sudo apt-get install -y wget python3-vcstool python3-colcon-coveragepy-result
+      - name: build and test
+        uses: ros-tooling/[email protected]
+        with:
+          package-name: oak_d_lite_camera_ros2
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: ""
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10.2) 
+project(oak_d_lite_camera_ros2 VERSION 0.0.1 LANGUAGES CXX C)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+add_compile_options(-g)
+
+## is used, also find other catkin packages
+if(POLICY CMP0057)
+    cmake_policy(SET CMP0057 NEW)
+endif()
+
+set(_opencv_version 4)
+find_package(OpenCV 4 QUIET COMPONENTS imgproc highgui)
+if(NOT OpenCV_FOUND)
+  set(_opencv_version 3)
+  find_package(OpenCV 3 REQUIRED COMPONENTS imgproc highgui)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+message(STATUS "------------------------------------------")
+message(STATUS "Depthai Bridge is being built using AMENT.")
+message(STATUS "------------------------------------------")
+
+find_package(camera_info_manager REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(depthai CONFIG REQUIRED)
+find_package(depthai_ros_msgs REQUIRED)
+find_package(depthai_bridge REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(stereo_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+
+set(dependencies
+  camera_info_manager
+  cv_bridge
+  depthai_ros_msgs
+  depthai_bridge
+  rclcpp
+  sensor_msgs
+  stereo_msgs
+  std_msgs
+  vision_msgs
+)
+
+include_directories(
+  include
+  ${ament_INCLUDE_DIRS}
+)
+
+macro(dai_add_node_ros2 node_name node_src)
+  add_executable("${node_name}" "${node_src}")
+
+  target_link_libraries("${node_name}"
+                        depthai::core
+                        opencv_imgproc
+                        opencv_highgui)
+
+  ament_target_dependencies("${node_name}"
+                            ${dependencies})
+
+endmacro()
+
+dai_add_node_ros2(rgbd_stereo_node src/rgbd_stereo_publisher.cpp)
+
+install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+install(TARGETS
+  rgbd_stereo_node
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()
+

README.md

@@ -1 +1,80 @@
-# oak_d_lite_camera_ros2
+# OAK-D-LITE Camera ROS 2 Launcher
+
+![distro](https://img.shields.io/badge/Ubuntu%2024-Nobley%20Numbat-green)
+![distro](https://img.shields.io/badge/ROS2-Jazzy-blue)
+[![jazzy](https://github.com/jmguerreroh/oak_d_lite_camera_ros2/actions/workflows/master.yaml/badge.svg?branch=jazzy)](https://github.com/jmguerreroh/oak_d_lite_camera_ros2/actions/workflows/master.yaml)
+
+This package provides a ROS 2 launch file to initialize and configure the OAK-D-LITE camera for RGBD, stereo, and point cloud processing. It includes adjustable camera configurations for transform frames, position, orientation, and depth processing parameters, along with a sample RViz configuration.
+
+## Installation
+
+1. Clone the repository and add it to your ROS 2 workspace:
+    ```bash
+    git clone https://github.com/jmguerreroh/oak_d_lite_camera_ros2.git
+    ```
+
+2. Install dependencies:
+    ```bash
+    rosdep install --from-paths src --ignore-src -r -y
+    ```
+
+3. Build the workspace:
+    ```bash
+    colcon build --symlink-install
+    ```
+
+## Usage
+
+To launch the OAK-D-LITE camera node with default parameters:
+
+```bash
+ros2 launch oak_d_lite_camera_ros2_launcher oak_d_lite_camera.launch.py
+```
+
+## Launch Arguments
+
+The launch file provides several configurable arguments:
+
+#### Camera Parameters
+
+- `camera_model`: Model of the camera. Options: `OAK-D`, `OAK-D-LITE`. Default: `OAK-D-LITE`
+- `tf_prefix`: TF prefix for camera frames. Default: `oak`
+- `base_frame`: Name of the camera's base frame. Default: `oak-d_frame`
+- `parent_frame`: Parent frame for the camera's base. Default: `oak-d-base-frame`
+
+#### Camera Position and Orientation
+
+- `cam_pos_x`, `cam_pos_y`, `cam_pos_z`: Position of the camera relative to the base frame. Default: `0.0`
+- `cam_roll`, `cam_pitch`, `cam_yaw`: Orientation of the camera relative to the base frame. Default: `0.0`
+
+#### Depth Processing Parameters
+
+- `mode`: Depth processing mode (`depth` or `disparity`). Default: `depth`
+- `lrcheck`: Left-right consistency check. Default: `True`
+- `extended`: Enable extended disparity range. Default: `False`
+- `subpixel`: Enable subpixel accuracy. Default: `True`
+- `confidence`: Confidence threshold for depth estimation. Default: `200`
+- `LRchecktresh`: Left-right consistency threshold. Default: `5`
+
+## Visualizing in RViz
+
+The launch file opens RViz with a pre-configured view. You can modify `rviz/rgbd_stereo_pcl.rviz` to customize the visualization.
+
+
+## About
+
+This project was made by [José Miguel Guerrero], Associate Professor at [Universidad Rey Juan Carlos].
+
+Copyright © 2024.
+
+[![Twitter](https://img.shields.io/badge/follow-@jm__guerrero-green.svg)](https://twitter.com/jm__guerrero)
+
+## License
+
+This work is licensed under the terms of the [MIT license](https://opensource.org/license/mit).
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+[Universidad Rey Juan Carlos]: https://www.urjc.es/
+[José Miguel Guerrero]: https://sites.google.com/view/jmguerrero
+