building with new husarion-snap-common

.github/workflows/build.yaml

@@ -0,0 +1,73 @@
+name: Build snap
+on:
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ros_distro: humble
+          - ros_distro: jazzy
+
+    # outputs:
+    #   snap-file: ${{ steps.build-snap.outputs.snap }}
+
+    steps:
+
+    - name: Checkout
+      uses: actions/checkout@v4
+      with:
+        fetch-tags: true
+
+    - name: Render snapcraft.yaml
+      run: |
+        pip install jinja2
+        export ROS_DISTRO=${{ matrix.ros_distro }}
+        ./render_template.py ./snapcraft_template.yaml.jinja2 snap/snapcraft.yaml
+
+    - name: Build snap
+      uses: snapcore/action-build@v1
+      with:
+        snapcraft-channel: latest/edge
+      id: build-snap
+      env:
+        SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS: 1
+
+    - name: Make sure the snap is installable
+      run: |
+        sudo snap install --dangerous ${{ steps.build-snap.outputs.snap }}
+
+    # # Save snap for subsequent job(s)
+    # - uses: actions/upload-artifact@v3
+    #   with:
+    #     name: husarion-camera-snap
+    #     path: ${{ steps.build-snap.outputs.snap }}
+
+  # publish:
+  #   if: github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/')
+  #   needs: build
+  #   runs-on: ubuntu-latest
+
+  #   steps:
+
+  #   # Retrieve the snap
+  #   - uses: actions/download-artifact@v3
+  #     with:
+  #       name: husarion-camera-snap
+  #       path: .
+
+  #   # Publish the snap on the store
+  #   # by default on 'edge' but on 'candidate' for tags
+  #   - uses: snapcore/action-publish@v1
+  #     env:
+  #       SNAPCRAFT_STORE_CREDENTIALS: ${{ secrets.STORE_LOGIN }}
+  #     with:
+  #       snap: ${{needs.build.outputs.snap-file}}
+  #       release: ${{ startsWith(github.ref, 'refs/tags/') && '${{ matrix.ros_distro }}/candidate' || '${{ matrix.ros_distro }}/edge'}}

.github/workflows/publish.yaml

@@ -0,0 +1,54 @@
+name: Build and publish snap
+on:
+  push:
+    tags:
+      - '*'
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ros_distro: humble
+          - ros_distro: jazzy
+
+    steps:
+
+    - name: Checkout
+      uses: actions/checkout@v4
+      with:
+        fetch-tags: true
+
+    - name: Render snapcraft.yaml
+      run: |
+        pip install jinja2
+        export ROS_DISTRO=${{ matrix.ros_distro }}
+        ./render_template.py ./snapcraft_template.yaml.jinja2 snap/snapcraft.yaml
+
+    - name: Build snap
+      uses: snapcore/action-build@v1
+      with:
+        snapcraft-channel: latest/edge
+      id: build-snap
+      env:
+        SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS: 1
+
+    - name: Make sure the snap is installable
+      run: |
+        sudo snap install --dangerous ${{ steps.build-snap.outputs.snap }}
+
+    # Publish the snap on the store
+    # by default on 'edge' but on 'candidate' for tags
+    - name: Publish snap
+      uses: snapcore/action-publish@v1
+      env:
+        SNAPCRAFT_STORE_CREDENTIALS: ${{ secrets.STORE_LOGIN }}
+      with:
+        snap: ${{ steps.build-snap.outputs.snap }}
+        release: ${{ matrix.ros_distro }}/${{ startsWith(github.ref, 'refs/tags/') && 'candidate' || 'edge' }}

README.md

@@ -16,42 +16,16 @@ Snap for OAK-x cameras customized for Husarion robots
 | `husarion-depthai.start` | Start the `husarion-depthai.daemon` service |
 | `husarion-depthai.stop` | Stop the `husarion-depthai.daemon` service |
 | `husarion-depthai` | Start the application in the foreground (run in the current terminal). Remember to stop the daemon first |
-| `husarion-depthai.image-view` | Preview the image from the camera |
 
-## Setup FFMPEG
+## Setup Camera Params
 
-The default values for `ffmpeg-image-transport` are:
-
-```bash
-$ sudo snap get husarion-depthai driver.ffmpeg-image-transport
-Key                                     Value
-driver.ffmpeg-image-transport.encoding  libx264
-driver.ffmpeg-image-transport.preset    ultrafast
-driver.ffmpeg-image-transport.tune      zerolatency
-```
-
-to check available options run:
-
-```bash
-ffmpeg -encoders
-```
-
-find the list of available presets by running
+The default config parameters for camera node are selected with:
 
 ```bash
-ffmpeg -h encoder=$SELECTED_ENCODER`
+$ sudo snap set husarion-depthai driver.camera-config=default
 ```
 
-## Setup Astra Params
-
-Default astra params are stored in the following file:
-
-```bash
-$ sudo snap get husarion-depthai driver.params-file
-/var/snap/husarion-depthai/common/depthai_params.yaml
-```
-
-The default `depthai_params.yaml` file content:
+The default config is get from: `/var/snap/husarion-depthai/common/camera-config-default.yaml` file:
 
 ```yaml
 ---
@@ -111,6 +85,12 @@ The default `depthai_params.yaml` file content:
       i_low_bandwidth: true #false
       i_low_bandwidth_quality: 20
       i_max_q_size: 30
+      # i_width: 1280 #valid if i_output_isp: false
+      # i_height: 720 #valid if i_output_isp: false
+      # i_interleaved: false
+      # scaling 1920x1080 1:3 to 640x360
+      # https://docs-beta.luxonis.com/develop/ros/depthai-ros-driver#Available%20sensors%20and%20their%20resolutions%3A
+      # IMX378, 1080P is 1920x1080, i_isp_den=3 and i_isp_num=2 will give 1280x720 (/16=)
       i_output_isp: true
       i_preview_height: 300
       i_preview_size: 300
@@ -136,24 +116,78 @@ The default `depthai_params.yaml` file content:
 
 ```
 
-To set a new params create a copy of the `depthai_params.yaml` file:
+You can create your own config file: `/var/snap/husarion-depthai/common/camera-config-<MY_NAME>.yaml`:
+
+```bash
+sudo cp \
+/var/snap/husarion-depthai/camera-config-default.yaml \
+/var/snap/husarion-depthai/camera-config-myconfig.yaml
+```
+
+Modify the content of the `camera-config-myconfig.yaml` file, eg:
+
+```bash
+sudo vim /var/snap/depthai-camera/common/camera-config-myconfig.yaml
+```
+
+And set the new path to the config file:
+
+```bash
+sudo snap set depthai-camera driver.camera-params=myconfig
+```
+
+## Setup FFMPEG Params
+
+The default values for `ffmpeg-image-transport` are:
+
+```bash
+$ sudo snap set husarion-depthai driver.ffmpeg-config=default
+```
+
+The default config is get from: `/var/snap/husarion-depthai/common/ffmpeg-config-default.yaml` file:
+
+```yaml
+---
+/**:
+  ros__parameters:
+    ffmpeg_image_transport:
+
+      # find the list of available encoders by running `ffmpeg -encoders`
+      encoding: libx264
+
+      # find the list of available presets by running `ffmpeg -h encoder=libx264`
+      preset: ultrafast
+      tune: zerolatency
+```
+
+You can create your own config file: `/var/snap/husarion-depthai/common/ffmpeg-config-<MY_NAME>.yaml`:
 
 ```bash
 sudo cp \
-/var/snap/husarion-depthai/common/depthai_params.yaml \
-/var/snap/husarion-depthai/common/depthai_params2.yaml
+/var/snap/husarion-depthai/ffmpeg-config-default.yaml \
+/var/snap/husarion-depthai/ffmpeg-config-myconfig.yaml
 ```
 
-Modify the content of the `astra-params2.yaml` file, eg:
+Modify the content of the `ffmpeg-config-myconfig.yaml` file, eg:
 
 ```bash
-sudo vim /var/snap/husarion-depthai/common/depthai_params2.yaml
+sudo vim /var/snap/husarion-depthai/common/ffmpeg-config-myconfig.yaml
 ```
 
 And set the new path to the config file:
 
 ```bash
-sudo snap set husarion-depthai driver.params-file=/var/snap/husarion-depthai/common/depthai_params2.yaml
+sudo snap set husarion-depthai driver.ffmpeg-params=myconfig
 ```
 
-List of all available parameters for OAK-x cameras is [here](https://docs.luxonis.com/software/ros/depthai-ros/driver/)
+To check available options run:
+
+```bash
+ffmpeg -encoders
+```
+
+find the list of available presets by running
+
+```bash
+ffmpeg -h encoder=$SELECTED_ENCODER`
+```

justfile

@@ -1,6 +1,24 @@
-build:
+[private]
+default:
+    @just --list --unsorted
+
+build target="humble":
     #!/bin/bash
     export SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS=1
+
+    if [ {{target}} == "humble" ]; then
+        export ROS_DISTRO=humble
+        export CORE_VERSION=core22
+    elif [ {{target}} == "jazzy" ]; then
+        export ROS_DISTRO=jazzy
+        export CORE_VERSION=core24
+    else
+        echo "Unknown target: $target"
+        exit 1
+    fi
+
+    ./render_template.py ./snapcraft_template.yaml.jinja2 snap/snapcraft.yaml
+
     snapcraft
 
 install:
@@ -21,7 +39,7 @@ clean:
     export SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS=1
     snapcraft clean   
 
-iterate:
+iterate target="humble":
     #!/bin/bash
     start_time=$(date +%s)
 
@@ -31,8 +49,20 @@ iterate:
     sudo rm -rf squashfs-root/
     sudo rm -rf husarion-depthai*.snap
     export SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS=1
+
+    if [ {{target}} == "humble" ]; then
+        export ROS_DISTRO=humble
+    elif [ {{target}} == "jazzy" ]; then
+        export ROS_DISTRO=jazzy
+    else
+        echo "Unknown target: {{target}}"
+        exit 1
+    fi
+
     snapcraft clean
+    ./render_template.py ./snapcraft_template.yaml.jinja2 snap/snapcraft.yaml
     snapcraft
+
     unsquashfs husarion-depthai*.snap
     sudo snap try squashfs-root/
     sudo snap connect husarion-depthai:raw-usb