oak-1 theora demo

demo/oak-1-theora/Dockerfile

@@ -0,0 +1,4 @@
+FROM ros:iron-ros-core
+
+RUN apt update && apt install -y \
+        ros-${ROS_DISTRO}-rqt*

demo/oak-1-theora/camera.yaml

@@ -1,5 +1,9 @@
 /oak:
   ros__parameters:
+    # qos_overrides:  # group for all the qos settings
+    #   '/oak/rgb/image_raw':
+    #     publisher:
+    #       reliability: best_effort
     camera:
       i_enable_imu: false
       i_enable_ir: false
@@ -22,16 +26,16 @@
       i_calibration_file: ''
       i_enable_preview: false
       i_fps: 30.0
-      i_width: 640
+      i_width: 640    
       i_height: 360
       i_interleaved: false
       i_keep_preview_aspect_ratio: true
-      i_low_bandwidth: false
+      i_low_bandwidth: true
       i_low_bandwidth_quality: 50
       i_max_q_size: 30
       i_preview_size: 300
       i_publish_topic: true
-      i_resolution: '800'
+      i_resolution: '360'
       i_set_isp_scale: false
       i_isp_num: 2
       i_isp_den: 3

demo/oak-1-theora/compose.yaml

@@ -39,6 +39,14 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
     command: ros2 run image_tools showimage --ros-args -p reliability:=best_effort --remap image:=/camera/my_image_raw
 
+  # # How to fix QoS in rqt to view the camera image: https://github.com/ros-visualization/rqt/issues/187#issuecomment-1068519939 
+  # rqt:
+  #   build: .
+  #   <<: *cpu-config
+  #   volumes:
+  #     - /tmp/.X11-unix:/tmp/.X11-unix:rw
+  #   command: sleep 3600   
+
   # # if you have NVDIA GPU and NVIDIA Container Toolkit, you can replace
   # # "cpu-config" with "gpu-config"
   # interface: