Add OAK-D demo (#5)

* Add pre-commit * Add oak-d-lite * Rename * Rviz config * Jakub suggestions Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com> --------- Co-authored-by: Jakub Delicat <109142865+delihus@users.noreply.github.com>
husarion · May 7, 2024 · d3fe1f7 · d3fe1f7
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diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
@@ -1,28 +1,32 @@
-name: Build/Publish ROS Docker Image 
+---
+name: Build/Publish ROS Docker Image
 
-on: 
+on:
   workflow_dispatch:
     inputs:
       build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
+        description: Is it a "development" or a "stable" release?
         required: true
-        default: 'development'
+        default: development
         type: choice
         options:
           - development
           - stable
       target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
         type: string
-        default: "ardent"
+        default: ardent
       target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
         type: string
-        default: "0.0.0"
+        default: 0.0.0
       target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
         type: string
-        default: "20131206"
+        default: '20131206'
   repository_dispatch:
     types: [rebuild]
   pull_request:
@@ -36,7 +40,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: ["iron", "humble"]
+        ros_distro: [iron, humble]
 
     steps:
 
@@ -47,11 +51,11 @@ jobs:
         uses: husarion-ci/ros-docker-img-action@v0.4
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
           main_branch_name: main
           build_type: ${{ inputs.build_type }}
           ros_distro: ${{ matrix.ros_distro }}
-          platforms: "linux/amd64, linux/arm64"
+          platforms: linux/amd64, linux/arm64
           # variables important only for stable release
           target_distro: ${{ inputs.target_distro }}
           target_release: ${{ inputs.target_release }}

diff --git a/.github/workflows/vulcanexus-docker-image.yaml b/.github/workflows/vulcanexus-docker-image.yaml
@@ -1,28 +1,32 @@
-name: Build/Publish Vulcanexus Docker Image 
+---
+name: Build/Publish Vulcanexus Docker Image
 
-on: 
+on:
   workflow_dispatch:
     inputs:
       build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
+        description: Is it a "development" or a "stable" release?
         required: true
-        default: 'development'
+        default: development
         type: choice
         options:
           - development
           - stable
       target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
         type: string
-        default: "ardent"
+        default: ardent
       target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
         type: string
-        default: "0.0.0"
+        default: 0.0.0
       target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
         type: string
-        default: "20131206"
+        default: '20131206'
   repository_dispatch:
     types: [rebuild]
   pull_request:
@@ -36,7 +40,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distro: ["humble"]
+        ros_distro: [humble]
 
     steps:
 
@@ -47,12 +51,12 @@ jobs:
         uses: husarion-ci/ros-docker-img-action@v0.4
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
           main_branch_name: ros2
           build_type: ${{ inputs.build_type }}
           ros_distro: ${{ matrix.ros_distro }}
-          platforms: "linux/amd64, linux/arm64"
-          prefix: "vulcanexus-"
+          platforms: linux/amd64, linux/arm64
+          prefix: vulcanexus-
           # variables important only for stable release
           target_distro: ${{ inputs.target_distro }}
           target_release: ${{ inputs.target_release }}

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,54 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-xml
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-json
+      - id: name-tests-test
+        files: ^.*\/test\/.*$
+        args: [--pytest-test-first]
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        entry: codespell *
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+  - repo: https://github.com/psf/black
+    rev: 23.12.0
+    hooks:
+      - id: black
+        args: [--line-length=99]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 6.1.0
+    hooks:
+      - id: flake8
+        args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
+                                       # black checks it
+
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: [--max-line-length=100, --ignore=D001]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
diff --git a/Dockerfile b/Dockerfile
@@ -55,4 +55,3 @@ RUN apt-get update && apt-get install -y \
 	rm -rf /var/lib/apt/lists/*
 
 RUN echo $(cat /ros2_ws/src/depthai-ros/depthai-ros/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt
-
diff --git a/README.md b/README.md
@@ -1,24 +1,36 @@
-# depthai-docker
+# Docker Images for Luxonis OAK Series cameras
 
-Dockerized `depthai-ros` ROS package ([GitHub repo here](https://github.com/luxonis/depthai-ros))
+The repository includes a GitHub Actions workflow that automatically deploys built Docker images to the [husarion/depthai-docker](https://hub.docker.com/r/husarion/depthai) Docker Hub repository. This process is based on [depthai-ros](https://github.com/luxonis/depthai-ros) repository.
 
-## Quick start
+[![ROS Docker Image](https://github.com/husarion/depthai-docker/actions/workflows/ros-docker-image.yaml/badge.svg)](https://github.com/husarion/depthai-docker/actions/workflows/ros-docker-image.yaml)
 
-1. Connect the camera with the USB cable.
+## Prepare Environment
 
-2. Clone this repository:
-```
-git clone https://github.com/husarion/depthai-docker.git
-cd depthai-docker/demo/oak-1
-```
+1. Plug in the Device
 
-3. Pull necessary docker images:
-```
-docker compose pull
-```
+You can use `lsusb` command to check if the device is visible.
 
-4. Launch it with the RViz:
-```
-xhost +local:docker
-docker compose up
-```
+## Demo
+
+1. Clone the repository
+
+   ```bash
+    git clone https://github.com/husarion/depthai-docker.git
+    cd depthai-docker/demo/oak-1
+   ```
+
+2. Activate the device
+
+   ```bash
+   docker compose up luxonis
+   ```
+
+3. Launch visualization
+
+   ```bash
+   xhost local:root
+   docker compose up rviz
+   ```
+
+> [!NOTE]
+> To use the latest version of the image, run the `docker compose pull` command.
diff --git a/demo/oak-1-ffmpeg/.env.gpu b/demo/oak-1-ffmpeg/.env.gpu
@@ -1,3 +1,3 @@
 DISPLAY=${DISPLAY:?err}
 NVIDIA_VISIBLE_DEVICES=all
-NVIDIA_DRIVER_CAPABILITIES=all
+NVIDIA_DRIVER_CAPABILITIES=all
diff --git a/demo/oak-1-ffmpeg/camera.params.yaml b/demo/oak-1-ffmpeg/camera.params.yaml
@@ -1,3 +1,4 @@
+---
 /oak:
   ros__parameters:
     # qos_overrides:  # group for all the qos settings
@@ -35,7 +36,7 @@
       i_width: 640
       i_height: 360
       i_interleaved: false
-      i_isp_den: 3 
+      i_isp_den: 3
       i_isp_num: 2
       i_keep_preview_aspect_ratio: true
       i_low_bandwidth: false
@@ -67,4 +68,4 @@
       tune: zerolatency
     use_sim_time: false
 
-# 1080P is in pixels 1920x1080
+# 1080P is in pixels 1920x1080
diff --git a/demo/oak-1-ffmpeg/compose.yaml b/demo/oak-1-ffmpeg/compose.yaml
@@ -25,13 +25,13 @@ services:
     device_cgroup_rules:
       - 'c 189:* rmw'
     command: >
-      ros2 launch depthai_ros_driver camera.launch.py 
-        parent_frame:=oak-1-base-frame 
+      ros2 launch depthai_ros_driver camera.launch.py
+        parent_frame:=oak-1-base-frame
         params_file:=/camera.params.yaml
 
   rviz:
     image: husarion/rviz2:humble-11.2.9-20240111
-    <<: 
+    <<:
       - *common-config
       - *gpu-config
     volumes:
@@ -58,4 +58,4 @@ services:
   #     # ==========================
   #     # - ROS_LOCALHOST_ONLY=0
   #     # - HUSARNET_PARTICIPANT_ENABLED=false
-  #   command: ddsrouter -c /config.yaml
+  #   command: ddsrouter -c /config.yaml
diff --git a/demo/oak-1-ffmpeg/config.yaml b/demo/oak-1-ffmpeg/config.yaml
@@ -1,3 +1,4 @@
+---
 version: v3.0
 participants:
   - name: LocalUdpParticipant
@@ -12,6 +13,6 @@ participants:
     domain: 0
     transport: shm
 allowlist:
-  - name: "rt/*"
+  - name: rt/*
 blocklist: []
 builtin-topics: []
diff --git a/demo/oak-1-ffmpeg/justfile b/demo/oak-1-ffmpeg/justfile
@@ -1,4 +1,4 @@
 run:
     #!/bin/bash
     xhost +local:docker
-    docker compose up
+    docker compose up
diff --git a/demo/oak-1-ffmpeg/rviz.launch.py b/demo/oak-1-ffmpeg/rviz.launch.py
@@ -1,22 +1,30 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
-    return LaunchDescription([
-        # Launch RViz2 with a default configuration
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            arguments=['-d', '/default.rviz'],
-            output='screen'
-        ),
-        # Launch image_transport to republish images
-        Node(
-            package='image_transport',
-            executable='republish',
-            name='republish',
-            arguments=['ffmpeg', 'in/ffmpeg:=/oak/rgb/image_raw/ffmpeg', 'raw', 'out:=/image_raw/uncompressed'],
-            output='screen'
-        ),
-    ])
+    return LaunchDescription(
+        [
+            # Launch RViz2 with a default configuration
+            Node(
+                package="rviz2",
+                executable="rviz2",
+                name="rviz2",
+                arguments=["-d", "/default.rviz"],
+                output="screen",
+            ),
+            # Launch image_transport to republish images
+            Node(
+                package="image_transport",
+                executable="republish",
+                name="republish",
+                arguments=[
+                    "ffmpeg",
+                    "in/ffmpeg:=/oak/rgb/image_raw/ffmpeg",
+                    "raw",
+                    "out:=/image_raw/uncompressed",
+                ],
+                output="screen",
+            ),
+        ]
+    )
diff --git a/demo/oak-1-ffmpeg/shm-only.xml b/demo/oak-1-ffmpeg/shm-only.xml
@@ -14,4 +14,4 @@
             <useBuiltinTransports>false</useBuiltinTransports>
         </rtps>
     </participant>
-</profiles>
+</profiles>
diff --git a/demo/oak-1-theora/Dockerfile b/demo/oak-1-theora/Dockerfile
@@ -1,4 +1,4 @@
 FROM ros:iron-ros-core
 
 RUN apt update && apt install -y \
-        ros-${ROS_DISTRO}-rqt*
+        ros-${ROS_DISTRO}-rqt-image-view
diff --git a/demo/oak-1-theora/camera.yaml b/demo/oak-1-theora/camera.yaml
@@ -1,3 +1,4 @@
+---
 /oak:
   ros__parameters:
     # qos_overrides:  # group for all the qos settings
@@ -26,7 +27,7 @@
       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
Original file line number	Diff line number	Diff line change
Expand Up		@@ -55,4 +55,3 @@ RUN apt-get update && apt-get install -y \
		rm -rf /var/lib/apt/lists/*

		RUN echo $(cat /ros2_ws/src/depthai-ros/depthai-ros/package.xml \| grep '<version>' \| sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt