luxonis · Serafadam · Jan 24, 2024 · May 26, 2023 · May 26, 2023 · Jun 16, 2023
diff --git a/README.md b/README.md
diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.9.0 (2024-01-24)
+
+* New documentation homepage
+* Updated support for LR and SR cameras
+* Added parameter to toggle restart on logging error
+* Changed argument for camera.launch file from `pass_tf_args_as_params` to `publish_tf_from_calibration` to be more explicit
+* Added the option to run NN as part of sensor node
+* Added option to run Spatial NN as part of stereo node
+
 2.8.2 (2023-10-17)
 -------------------
 

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 2.8.2 LANGUAGES CXX C)
+project(depthai-ros VERSION 2.9.0 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>2.8.2</version>
+  <version>2.9.0</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 2.8.2 LANGUAGES CXX C)
+project(depthai_bridge VERSION 2.9.0 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>2.8.2</version>
+  <version>2.9.0</version>
   <description>The depthai_bridge package</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</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 2.8.2)
+project(depthai_descriptions VERSION 2.9.0)
 
 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>2.8.2</version>
+  <version>2.9.0</version>
   <description>The depthai_descriptions package</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

diff --git a/depthai_descriptions/urdf/include/depthai_macro.urdf.xacro b/depthai_descriptions/urdf/include/depthai_macro.urdf.xacro
@@ -41,80 +41,80 @@
             </joint>
         </xacro:unless>
         <xacro:unless value="${model in ['OAK-D-LR']}">
-
-        <!-- Left Camera -->
-        <link name="${camera_name}_left_camera_frame" />
 
-        <joint name="${camera_name}_left_camera_joint" type="fixed">
-            <parent link="${base_frame}"/>
-            <child link="${camera_name}_left_camera_frame"/>
-            <origin xyz="0 ${baseline/2} 0" rpy="0 0 0" />
-        </joint>
+            <!-- Left Camera -->
+            <link name="${camera_name}_left_camera_frame" />
 
-        <link name="${camera_name}_left_camera_optical_frame"/>
+            <joint name="${camera_name}_left_camera_joint" type="fixed">
+                <parent link="${base_frame}"/>
+                <child link="${camera_name}_left_camera_frame"/>
+                <origin xyz="0 ${baseline/2} 0" rpy="0 0 0" />
+            </joint>
 
-        <joint name="${camera_name}_left_camera_optical_joint" type="fixed">
-            <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
-            <parent link="${camera_name}_left_camera_frame"/>
-            <child link="${camera_name}_left_camera_optical_frame"/>
-        </joint>
+            <link name="${camera_name}_left_camera_optical_frame"/>
 
+            <joint name="${camera_name}_left_camera_optical_joint" type="fixed">
+                <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
+                <parent link="${camera_name}_left_camera_frame"/>
+                <child link="${camera_name}_left_camera_optical_frame"/>
+            </joint>
 
-        <!-- right Camera -->
-        <link name="${camera_name}_right_camera_frame" />
 
-        <joint name="${camera_name}_right_camera_joint" type="fixed">
-            <parent link="${base_frame}"/>
-            <child link="${camera_name}_right_camera_frame"/>
-            <origin xyz="0 -${baseline/2} 0" rpy="0 0 0" />
-        </joint>
+            <!-- right Camera -->
+            <link name="${camera_name}_right_camera_frame" />
 
-        <link name="${camera_name}_right_camera_optical_frame"/>
+            <joint name="${camera_name}_right_camera_joint" type="fixed">
+                <parent link="${base_frame}"/>
+                <child link="${camera_name}_right_camera_frame"/>
+                <origin xyz="0 -${baseline/2} 0" rpy="0 0 0" />
+            </joint>
+
+            <link name="${camera_name}_right_camera_optical_frame"/>
 
-        <joint name="${camera_name}_right_camera_optical_joint" type="fixed">
-            <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
-            <parent link="${camera_name}_right_camera_frame"/>
-            <child link="${camera_name}_right_camera_optical_frame"/>
-        </joint>
+            <joint name="${camera_name}_right_camera_optical_joint" type="fixed">
+                <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
+                <parent link="${camera_name}_right_camera_frame"/>
+                <child link="${camera_name}_right_camera_optical_frame"/>
+            </joint>
 
         </xacro:unless>
 
         <xacro:if value="${model in ['OAK-D-LR']}">
 
-        <!-- left Camera -->
-        <link name="${camera_name}_left_camera_frame" />
+            <!-- left Camera -->
+            <link name="${camera_name}_left_camera_frame" />
 
-        <joint name="${camera_name}_left_camera_joint" type="fixed">
-            <parent link="${base_frame}"/>
-            <child link="${camera_name}_left_camera_frame"/>
-            <origin xyz="0 0.1 0" rpy="0 0 0" />
-        </joint>
+            <joint name="${camera_name}_left_camera_joint" type="fixed">
+                <parent link="${base_frame}"/>
+                <child link="${camera_name}_left_camera_frame"/>
+                <origin xyz="0 0.1 0" rpy="0 0 0" />
+            </joint>
 
-        <link name="${camera_name}_left_camera_optical_frame"/>
+            <link name="${camera_name}_left_camera_optical_frame"/>
 
-        <joint name="${camera_name}_left_camera_optical_joint" type="fixed">
-            <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
-            <parent link="${camera_name}_left_camera_frame"/>
-            <child link="${camera_name}_left_camera_optical_frame"/>
-        </joint>
+            <joint name="${camera_name}_left_camera_optical_joint" type="fixed">
+                <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
+                <parent link="${camera_name}_left_camera_frame"/>
+                <child link="${camera_name}_left_camera_optical_frame"/>
+            </joint>
 
-         <!-- right Camera -->
-        <link name="${camera_name}_right_camera_frame" />
+            <!-- right Camera -->
+            <link name="${camera_name}_right_camera_frame" />
 
-        <joint name="${camera_name}_right_camera_joint" type="fixed">
-            <parent link="${base_frame}"/>
-            <child link="${camera_name}_right_camera_frame"/>
-            <origin xyz="0 -0.05 0" rpy="0 0 0" />
-        </joint>
+            <joint name="${camera_name}_right_camera_joint" type="fixed">
+                <parent link="${base_frame}"/>
+                <child link="${camera_name}_right_camera_frame"/>
+                <origin xyz="0 -0.05 0" rpy="0 0 0" />
+            </joint>
 
-        <link name="${camera_name}_right_camera_optical_frame"/>
+            <link name="${camera_name}_right_camera_optical_frame"/>
 
-        <joint name="${camera_name}_right_camera_optical_joint" type="fixed">
-            <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
-            <parent link="${camera_name}_right_camera_frame"/>
-            <child link="${camera_name}_right_camera_optical_frame"/>
-        </joint>
-    </xacro:if>
+            <joint name="${camera_name}_right_camera_optical_joint" type="fixed">
+                <origin xyz="0 0 0" rpy="-${M_PI/2} 0.0 -${M_PI/2}"/>
+                <parent link="${camera_name}_right_camera_frame"/>
+                <child link="${camera_name}_right_camera_optical_frame"/>
+            </joint>
+        </xacro:if>
     </xacro:macro>
 
 </robot>
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 2.8.2 LANGUAGES CXX C)
+project(depthai_examples VERSION 2.9.0 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>2.8.2</version>
+  <version>2.9.0</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 2.8.2 LANGUAGES CXX C)
+project(depthai_filters VERSION 2.9.0 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>2.8.2</version>
+  <version>2.9.0</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 2.8.2)
+project(depthai_ros_driver VERSION 2.9.0)
 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>2.8.2</version>
+  <version>2.9.0</version>
   <description>Depthai ROS Monolithic node.</description>
   <maintainer email="[email protected]">Adam Serafin</maintainer>
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>

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 2.8.2)
+project(depthai_ros_msgs VERSION 2.9.0)
 
 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>2.8.2</version>
+  <version>2.9.0</version>
   <description>Package to keep interface independent of the driver</description>
 
   <maintainer email="[email protected]">Sachin Guruswamy</maintainer>