tunning luxonis params

demo/oak-1-ffmpeg/camera.params.yaml

@@ -12,34 +12,48 @@
       i_laser_dot_brightness: 800
       i_mx_id: ''
       i_nn_type: none
-      i_pipeline_type: RGB
+      i_pipeline_type: RGB # https://docs-beta.luxonis.com/develop/ros/depthai-ros-driver#Depthai%20ROS%20Driver-Available%20sensors%20and%20their%20resolutions%3A
       i_usb_port_id: ''
       i_usb_speed: SUPER_PLUS
       i_pipeline_dump: false
       i_calibration_dump: false
       i_external_calibration_path: ''
     rgb:
+      i_add_exposure_offset: false
       i_board_socket_id: 0
-      i_simulate_from_topic: false
-      i_get_base_device_timestamp: false
-      i_disable_node: false
       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_width: 640    
+      i_fsync_continuous: false
+      i_fsync_trigger: false
+      i_get_base_device_timestamp: false
+      i_width: 640
       i_height: 360
       i_interleaved: false
+      i_isp_den: 3 
+      i_isp_num: 2
       i_keep_preview_aspect_ratio: true
-      i_low_bandwidth: 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: '360'
-      i_set_isp_scale: false
-      i_isp_num: 2
-      i_isp_den: 3
-      i_output_isp: false
+      i_resolution: 1080P # available resolutions: https://docs-beta.luxonis.com/develop/ros/depthai-ros-driver#Available%20sensors%20and%20their%20resolutions%3A
+      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
       r_exposure: 20000
       r_focus: 1
       r_iso: 800
@@ -51,4 +65,6 @@
       encoding: libx264
       preset: ultrafast
       tune: zerolatency
-    use_sim_time: false
+    use_sim_time: false
+
+# 1080P is in pixels 1920x1080

demo/oak-1-ffmpeg/compose.yaml

@@ -38,4 +38,24 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ./default.rviz:/default.rviz
       - ./rviz.launch.py:/rviz.launch.py
-    command: ros2 launch /rviz.launch.py
+    command: ros2 launch /rviz.launch.py
+
+  # ros2router:
+  #   image: husarnet/ros2router:1.6.3
+  #   <<: *common-config
+  #   volumes:
+  #     - ./config.yaml:/config.yaml
+  #   environment:
+  #     - AUTO_CONFIG=FALSE
+  #     - USER
+  #     # ==========================
+  #     # envs for Husarnet setup
+  #     # ==========================
+  #     - ROS_DISCOVERY_SERVER=${ROBOT_NAMESPACE}:11811
+  #     - DISCOVERY_SERVER_ID=10 # need to be different as ros2router on ROSbot
+  #     # ==========================
+  #     # envs for LAN setup
+  #     # ==========================
+  #     # - ROS_LOCALHOST_ONLY=0
+  #     # - HUSARNET_PARTICIPANT_ENABLED=false
+  #   command: ddsrouter -c /config.yaml

demo/oak-1-ffmpeg/config.yaml

@@ -0,0 +1,17 @@
+version: v3.0
+participants:
+  - name: LocalUdpParticipant
+    kind: local
+    domain: 0
+    transport: udp
+    ignore-participant-flags: no_filter
+    whitelist-interfaces:
+      - 127.0.0.1
+  - name: LocalShmParticipant
+    kind: local
+    domain: 0
+    transport: shm
+allowlist:
+  - name: "rt/*"
+blocklist: []
+builtin-topics: []