Add oak-d-lite

demo/oak-d-lite/compose.yaml

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+services:
+  luxonis:
+    image: husarion/depthai:humble-2.8.1
+    volumes:
+      - /dev/bus/usb:/dev/bus/usb
+      - ./rgbd-pcl.yaml:/rgbd-pcl.yaml
+    device_cgroup_rules:
+      - 'c 189:* rmw'
+    command: >
+      ros2 launch depthai_ros_driver rgbd_pcl.launch.py
+        camera_model:=OAK-D-LITE
+        params_file:=/rgbd-pcl.yaml
+
+  rviz:
+    image: husarion/rviz2:humble-11.2.6
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./default.rviz:/root/.rviz2/default.rviz
+    environment:
+      - DISPLAY=${DISPLAY:?err}
+      - LIBGL_ALWAYS_SOFTWARE=1

demo/oak-d-lite/default.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Image RGB1
+        - /Image RGB1/Topic1
+        - /Image Depth1
+        - /Image Depth1/Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 167
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image RGB
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /oak/rgb/image_raw
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 5000
+      Median window: 5
+      Min Value: 0
+      Name: Image Depth
+      Normalize Range: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /oak/stereo/image_raw
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: oak-d-base-frame
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 800
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image Depth:
+    collapsed: false
+  Image RGB:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001a300000286fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000000e2000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120049006d00610067006500200052004700420100000123000000ca0000002800fffffffb000000160049006d00610067006500200044006500700074006801000001f3000000ce0000002800ffffff000000010000010f00000286fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000286000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ba0000003efc0100000002fb0000000800540069006d00650100000000000005ba0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000002fc0000028600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1466
+  X: 70
+  Y: 27

demo/oak-d-lite/rgbd-pcl.yaml

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+/oak:
+  ros__parameters:
+    camera:
+      i_calibration_dump: false
+      i_enable_imu: false
+      i_enable_ir: true
+      i_external_calibration_path: ''
+      i_floodlight_brightness: 0
+      i_ip: ''
+      i_laser_dot_brightness: 800
+      i_mx_id: ''
+      i_pipeline_dump: false
+      i_pipeline_type: RGBD
+      i_publish_tf_from_calibration: false
+      i_restart_on_diagnostics_error: false
+      i_tf_base_frame: oak
+      i_tf_cam_pitch: '0.0'
+      i_tf_cam_pos_x: '0.0'
+      i_tf_cam_pos_y: '0.0'
+      i_tf_cam_pos_z: '0.0'
+      i_tf_cam_roll: '0.0'
+      i_tf_cam_yaw: '0.0'
+      i_tf_camera_model: ''
+      i_tf_camera_name: oak
+      i_tf_custom_urdf_location: ''
+      i_tf_custom_xacro_args: ''
+      i_tf_imu_from_descr: 'false'
+      i_tf_parent_frame: oak-d-base-frame
+      i_usb_port_id: ''
+      i_usb_speed: SUPER_PLUS
+    diagnostic_updater:
+      period: 1.0
+    rgb:
+      i_add_exposure_offset: false
+      i_board_socket_id: 0
+      i_calibration_file: ''
+      i_disable_node: false
+      i_enable_feature_tracker: false
+      i_enable_lazy_publisher: true
+      i_enable_nn: false
+      i_enable_preview: false
+      i_exposure_offset: 0
+      i_fps: 30.0
+      i_fsync_continuous: false
+      i_fsync_trigger: false
+      i_get_base_device_timestamp: false
+      i_height: 720
+      i_interleaved: false
+      i_isp_den: 3
+      i_isp_num: 2
+      i_keep_preview_aspect_ratio: true
+      i_low_bandwidth: false
+      i_low_bandwidth_quality: 50
+      i_max_q_size: 30
+      i_output_isp: true
+      i_preview_height: 300
+      i_preview_size: 300
+      i_preview_width: 300
+      i_publish_topic: true
+      i_resolution: 1080P
+      i_reverse_stereo_socket_order: false
+      i_sensor_img_orientation: AUTO
+      i_set_isp3a_fps: false
+      i_set_isp_scale: true
+      i_simulate_from_topic: false
+      i_simulated_topic_name: ''
+      i_update_ros_base_time_on_ros_msg: false
+      i_width: 1280
+      r_exposure: 20000
+      r_focus: 1
+      r_iso: 800
+      r_set_man_exposure: false
+      r_set_man_focus: false
+      r_set_man_whitebalance: false
+      r_whitebalance: 3300
+    stereo:
+      i_add_exposure_offset: false
+      i_align_depth: true
+      i_bilateral_sigma: 0
+      i_board_socket_id: 0
+      i_depth_filter_size: 5
+      i_depth_preset: HIGH_ACCURACY
+      i_disparity_width: DISPARITY_96
+      i_enable_alpha_scaling: false
+      i_enable_brightness_filter: false
+      i_enable_companding: false
+      i_enable_decimation_filter: false
+      i_enable_disparity_shift: false
+      i_enable_distortion_correction: false
+      i_enable_lazy_publisher: true
+      i_enable_spatial_filter: false
+      i_enable_spatial_nn: false
+      i_enable_speckle_filter: false
+      i_enable_temporal_filter: false
+      i_enable_threshold_filter: false
+      i_exposure_offset: 0
+      i_extended_disp: false
+      i_get_base_device_timestamp: false
+      i_height: 720
+      i_left_rect_add_exposure_offset: false
+      i_left_rect_enable_feature_tracker: false
+      i_left_rect_exposure_offset: 0
+      i_left_rect_low_bandwidth: false
+      i_left_rect_low_bandwidth_quality: 50
+      i_left_socket_id: 1
+      i_low_bandwidth: false
+      i_low_bandwidth_quality: 50
+      i_lr_check: true
+      i_lrc_threshold: 10
+      i_max_q_size: 30
+      i_output_disparity: false
+      i_publish_left_rect: false
+      i_publish_right_rect: false
+      i_publish_synced_rect_pair: false
+      i_publish_topic: true
+      i_rectify_edge_fill_color: 0
+      i_reverse_stereo_socket_order: false
+      i_right_rect_add_exposure_offset: false
+      i_right_rect_enable_feature_tracker: false
+      i_right_rect_exposure_offset: 0
+      i_right_rect_low_bandwidth: false
+      i_right_rect_low_bandwidth_quality: 50
+      i_right_socket_id: 2
+      i_set_disparity_to_depth_use_spec_translation: false
+      i_set_input_size: false
+      i_socket_name: rgb
+      i_stereo_conf_threshold: 240
+      i_subpixel: false
+      i_update_ros_base_time_on_ros_msg: false
+      i_width: 1280
+    use_sim_time: false