From 4bbd98d7ca2ad6b9cf6d763d7df29dc3e96d372d Mon Sep 17 00:00:00 2001
From: dominikn <dominik.nwk@gmail.com>
Date: Fri, 19 Jul 2024 00:09:00 +0200
Subject: [PATCH] building with new husarion-snap-common

---
 .github/workflows/build.yaml                  |  73 +++++++++
 .github/workflows/publish.yaml                |  54 +++++++
 .github/workflows/snap.yaml                   |  61 -------
 README.md                                     | 108 ++++++++-----
 justfile                                      |  34 +++-
 render_template.py                            |  22 +++
 snap/gui/icon.png                             | Bin 21880 -> 12518 bytes
 snap/hooks/configure                          |  50 ++----
 snap/hooks/connect-plug-ros-humble-ros-base   |   8 -
 .../hooks/disconnect-plug-ros-humble-ros-base |   4 -
 snap/hooks/install                            |   6 +-
 ...params.yaml => camera-params-default.yaml} |   0
 ...mplate.yaml => ffmpeg-params-default.yaml} |   0
 snap/local/launcher.sh                        |  18 ++-
 snap/snapcraft.yaml                           |  42 +----
 snapcraft_template.yaml.jinja2                | 151 ++++++++++++++++++
 16 files changed, 436 insertions(+), 195 deletions(-)
 create mode 100644 .github/workflows/build.yaml
 create mode 100644 .github/workflows/publish.yaml
 delete mode 100644 .github/workflows/snap.yaml
 create mode 100755 render_template.py
 delete mode 100755 snap/hooks/connect-plug-ros-humble-ros-base
 delete mode 100755 snap/hooks/disconnect-plug-ros-humble-ros-base
 rename snap/local/{depthai_params.yaml => camera-params-default.yaml} (100%)
 rename snap/local/{ffmpeg_params_template.yaml => ffmpeg-params-default.yaml} (100%)
 create mode 100644 snapcraft_template.yaml.jinja2

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
new file mode 100644
index 0000000..acb8de2
--- /dev/null
+++ b/.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' || '${{ matrix.ros_distro }}/edge'}}
diff --git a/.github/workflows/publish.yaml b/.github/workflows/publish.yaml
new file mode 100644
index 0000000..a66bffe
--- /dev/null
+++ b/.github/workflows/publish.yaml
@@ -0,0 +1,54 @@
+name: Build and publish snap
+on:
+  push:
+    tags:
+      - '*'
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ros_distro: humble
+          - ros_distro: jazzy
+
+    steps:
+
+    - name: Checkout
+      uses: actions/checkout@v4
+      with:
+        fetch-tags: true
+
+    - name: Render snapcraft.yaml
+      run: |
+        pip install jinja2
+        export ROS_DISTRO=${{ 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' }}
diff --git a/.github/workflows/snap.yaml b/.github/workflows/snap.yaml
deleted file mode 100644
index 9c4de46..0000000
--- a/.github/workflows/snap.yaml
+++ /dev/null
@@ -1,61 +0,0 @@
-name: snap
-on:
-  push:
-    tags:
-      - '*'
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-  workflow_dispatch:
-
-jobs:
-  build:
-    runs-on: ubuntu-22.04
-    outputs:
-      snap-file: ${{ steps.build-snap.outputs.snap }}
-    steps:
-
-    - uses: actions/checkout@v3
-      with:
-        fetch-tags: true
-
-    # Build the snap
-    - uses: snapcore/action-build@v1
-      with:
-        snapcraft-channel: latest/edge
-      id: build-snap
-      env:
-        SNAPCRAFT_ENABLE_EXPERIMENTAL_EXTENSIONS: 1
-
-    # 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-depthai-snap
-        path: ${{ steps.build-snap.outputs.snap }}
-
-  publish:
-    if: github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/')
-    needs: build
-    runs-on: ubuntu-22.04
-    steps:
-
-    # Retrieve the snap
-    - uses: actions/download-artifact@v3
-      with:
-        name: husarion-depthai-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/') && 'candidate' || 'edge'}}
diff --git a/README.md b/README.md
index 1f8f974..08f60cd 100644
--- a/README.md
+++ b/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/)
\ No newline at end of file
+To check available options run:
+
+```bash
+ffmpeg -encoders
+```
+
+find the list of available presets by running
+
+```bash
+ffmpeg -h encoder=$SELECTED_ENCODER`
+```
diff --git a/justfile b/justfile
index 68eb0ac..3e5cd3e 100644
--- a/justfile
+++ b/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
diff --git a/render_template.py b/render_template.py
new file mode 100755
index 0000000..8975a24
--- /dev/null
+++ b/render_template.py
@@ -0,0 +1,22 @@
+#!/usr/bin/env python3
+
+import sys
+import os
+from jinja2 import Environment, FileSystemLoader
+
+def render_template(template_path, output_path, context):
+    env = Environment(loader=FileSystemLoader(os.path.dirname(template_path)))
+    template = env.get_template(os.path.basename(template_path))
+
+    with open(output_path, 'w') as f:
+        f.write(template.render(context))
+
+if __name__ == "__main__":
+    template_path = sys.argv[1]
+    output_path = sys.argv[2]
+    context = {
+        'ros_distro': os.getenv('ROS_DISTRO'),
+        # 'core_version': os.getenv('CORE_VERSION')
+    }
+
+    render_template(template_path, output_path, context)
diff --git a/snap/gui/icon.png b/snap/gui/icon.png
index 3adc62278e05b9bed33cf56a89422a03e3a20d77..befffb3f2804c772962038c6701efd4ca8492541 100644
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diff --git a/snap/hooks/configure b/snap/hooks/configure
index 46c183d..1311156 100755
--- a/snap/hooks/configure
+++ b/snap/hooks/configure
@@ -19,26 +19,19 @@ VALID_DRIVER_KEYS=(
   "cam-roll"
   "cam-pitch"
   "cam-yaw"
-  "params-file"
-  "ffmpeg-image-transport"
-)
-
-VALID_FFMPEG_IMAGE_TRANSPORT_KEYS=(
-  "encoding"
-  "preset"
-  "tune"
+  "camera-params"
+  "ffmpeg-params"
 )
 
 # common
 
 validate_keys "driver" VALID_DRIVER_KEYS[@]
-validate_keys "driver.ffmpeg-image-transport" VALID_FFMPEG_IMAGE_TRANSPORT_KEYS[@]
 
 # validate driver.name
-validate_regex "driver.name" '^[a-z_-]{1,10}$' "Possible values are text with a maximum length of 10 characters, containing only lowercase letters (a-z), "-" or '_'."
+validate_regex "driver.name" '^[a-z_-]{1,10}$'
 
 # validate driver.parent-frame
-validate_regex "driver.parent-frame" '^[a-z_-]{1,40}$' "Possible values are text with a maximum length of 40 characters, containing only lowercase letters (a-z), "-" or '_'."
+validate_regex "driver.parent-frame" '^[a-z_-]{1,40}$'
 
 # validate driver.camera-model
 VALID_CAMERA_MODEL_OPTIONS=("OAK-D" "OAK-D-LITE")
@@ -52,38 +45,13 @@ validate_float "driver.cam-roll"
 validate_float "driver.cam-pitch"
 validate_float "driver.cam-yaw"
 
-# validate driver.params-file
-validate_path "driver.params-file"
-
-export LD_LIBRARY_PATH=$SNAP/usr/lib/$(uname -m)-linux-gnu/pulseaudio:$SNAP/usr/lib/$(uname -m)-linux-gnu/blas:$SNAP/usr/lib/$(uname -m)-linux-gnu/lapack:$LD_LIBRARY_PATH
+# export LD_LIBRARY_PATH=$SNAP/usr/lib/$(uname -m)-linux-gnu/pulseaudio:$SNAP/usr/lib/$(uname -m)-linux-gnu/blas:$SNAP/usr/lib/$(uname -m)-linux-gnu/lapack:$LD_LIBRARY_PATH
 
-export FFMPEG_ENCODING=$(snapctl get driver.ffmpeg-image-transport.encoding)
-
-# Check if FFMPEG_ENCODING is set
-if [ -n "$FFMPEG_ENCODING" ]; then
-  # Run ffmpeg -codecs and check if the codec is available
-  if ! ffmpeg -encoders 2>/dev/null | awk '{print $2}' | grep -q "$FFMPEG_ENCODING"; then
-    log_and_echo "Error: Codec $FFMPEG_ENCODING is not available:"
-    log_and_echo "Find available codecs here: $SNAP_COMMON/ffmpeg_codecs.txt"
-    ffmpeg -encoders 2>/dev/null | awk '/^ V/ {print $0}' > $SNAP_COMMON/ffmpeg_codecs.txt
-    exit 1
-  fi
+# validate driver.camera-params
+validate_config_param "driver.camera-params" "camera-params-VALUE.yaml"
 
-  cp $SNAP_COMMON/ffmpeg_params_template.yaml $SNAP_COMMON/ffmpeg_params.yaml
-  yq -i './**.ros__parameters.ffmpeg_image_transport = {}' $SNAP_COMMON/ffmpeg_params.yaml
-
-  # Get all options in JSON format
-  OPTIONS=$(snapctl get driver.ffmpeg-image-transport)
-  keys=$(echo $OPTIONS | yq '. | to_entries | .[].key')
-  for key in $keys; do
-    export FFMPEG_KEY=$key
-    export FFMPEG_VALUE=$(snapctl get driver.ffmpeg-image-transport.$FFMPEG_KEY)
-    yq -i './**.ros__parameters.ffmpeg_image_transport += {env(FFMPEG_KEY): env(FFMPEG_VALUE)}' $SNAP_COMMON/ffmpeg_params.yaml
-  done
-else
-  cp $SNAP_COMMON/ffmpeg_params_template.yaml $SNAP_COMMON/ffmpeg_params.yaml
-  yq -i './**.ros__parameters.ffmpeg_image_transport = {}' $SNAP_COMMON/ffmpeg_params.yaml
-fi
+# validate driver.ffmpeg-params
+validate_config_param "driver.ffmpeg-params" "ffmpeg-params-VALUE.yaml"
 
 $SNAP/usr/bin/configure_hook_ros.sh
 
diff --git a/snap/hooks/connect-plug-ros-humble-ros-base b/snap/hooks/connect-plug-ros-humble-ros-base
deleted file mode 100755
index 39d5c18..0000000
--- a/snap/hooks/connect-plug-ros-humble-ros-base
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash -e
-
-# now we can start the service
-# if snapctl services ${SNAP_NAME}.${SNAP_NAME} | grep -q inactive; then
-#   snapctl start --enable ${SNAP_NAME}.${SNAP_NAME} 2>&1 || true
-# fi
-
-logger -t ${SNAP_NAME} "Plug 'ros-humble-ros-base' connected"
\ No newline at end of file
diff --git a/snap/hooks/disconnect-plug-ros-humble-ros-base b/snap/hooks/disconnect-plug-ros-humble-ros-base
deleted file mode 100755
index bc2c60d..0000000
--- a/snap/hooks/disconnect-plug-ros-humble-ros-base
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/bash -e
-
-logger -t ${SNAP_NAME} "Plug 'ros-humble-ros-base' disconnected"
-snapctl stop --disable ${SNAP_NAME}.daemon 2>&1 || true
diff --git a/snap/hooks/install b/snap/hooks/install
index b000830..3800fba 100755
--- a/snap/hooks/install
+++ b/snap/hooks/install
@@ -14,10 +14,8 @@ snapctl set driver.cam-pos-z=0.0
 snapctl set driver.cam-roll=0.0
 snapctl set driver.cam-pitch=0.0
 snapctl set driver.cam-yaw=0.0
-snapctl set driver.params-file=$SNAP_COMMON/depthai_params.yaml
-snapctl set driver.ffmpeg-image-transport.encoding=libx264
-snapctl set driver.ffmpeg-image-transport.preset=ultrafast
-snapctl set driver.ffmpeg-image-transport.tune=zerolatency
+snapctl set driver.camera-params=default
+snapctl set driver.ffmpeg-params=default
 
 if ! snapctl is-connected raw-usb; then
   log "Plug 'raw-usb' isn't connected, please run:"
diff --git a/snap/local/depthai_params.yaml b/snap/local/camera-params-default.yaml
similarity index 100%
rename from snap/local/depthai_params.yaml
rename to snap/local/camera-params-default.yaml
diff --git a/snap/local/ffmpeg_params_template.yaml b/snap/local/ffmpeg-params-default.yaml
similarity index 100%
rename from snap/local/ffmpeg_params_template.yaml
rename to snap/local/ffmpeg-params-default.yaml
diff --git a/snap/local/launcher.sh b/snap/local/launcher.sh
index ecf3625..9dbcc1f 100755
--- a/snap/local/launcher.sh
+++ b/snap/local/launcher.sh
@@ -15,7 +15,7 @@ OPTIONS=(
   cam-roll
   cam-pitch
   cam-yaw
-  params-file
+  # params-file
 )
 
 LAUNCH_OPTIONS=""
@@ -28,9 +28,21 @@ for OPTION in "${OPTIONS[@]}"; do
   fi
 done
 
+# Check if ros.namespace is set and not empty
+ROS_NAMESPACE="$(snapctl get ros.namespace)"
+if [ -n "${ROS_NAMESPACE}" ]; then
+    LAUNCH_OPTIONS+="namespace:=${ROS_NAMESPACE} "
+fi
+
+CAMERA_PARAMS="$(snapctl get driver.camera-params)"
+LAUNCH_OPTIONS+="params_file:=${SNAP_COMMON}/camera-params-${CAMERA_PARAMS}.yaml "
+
+FFMPEG_PARAMS="$(snapctl get driver.ffmpeg-params)"
+LAUNCH_OPTIONS+="ffmpeg_params_file:=${SNAP_COMMON}/ffmpeg-params-${FFMPEG_PARAMS}.yaml "
+
 if [ "${LAUNCH_OPTIONS}" ]; then
-  # watch the log with: "journalctl -t husarion-depthai"
+  # watch the log with: "journalctl -t husarion-astra"
   log_and_echo "Running with options: ${LAUNCH_OPTIONS}"
 fi
 
-ros2 launch $SNAP/usr/bin/depthai.launch.py ${LAUNCH_OPTIONS} ffmpeg_params_file:=$SNAP_COMMON/ffmpeg_params.yaml
+ros2 launch $SNAP/usr/bin/depthai.launch.py ${LAUNCH_OPTIONS}
diff --git a/snap/snapcraft.yaml b/snap/snapcraft.yaml
index b59678a..1327268 100644
--- a/snap/snapcraft.yaml
+++ b/snap/snapcraft.yaml
@@ -31,21 +31,13 @@ description: |
   * cam-roll: `0.0`
   * cam-pitch: `0.0`
   * cam-yaw: `0.0`
-  * params-file: `$SNAP_COMMON/depthai_params.yaml`
-  * ffmpeg-image-transport.encoding: `libx264`
-  * ffmpeg-image-transport.preset: `ultrafast`
-  * ffmpeg-image-transport.tune: `zerolatency`
-
+  * camera-params: `default` - Sets the camera parameters based on `/var/snap/husarion-depthai/common/camera-params-<VALUE>.yaml`
+  * ffmpeg-params: `default` - Sets the FFMPEG parameters based on `/var/snap/husarion-camera/common/ffmpeg-params-<VALUE>.yaml`
+  
   To set the parameters, use the snap set command, e.g.,
 
      snap set husarion-depthai driver.namespace=robot
 
-  Default values for `ffmpeg-image-transport`:
-
-  * encoding: `libx264`
-  * preset: `ultrafast`
-  * tune: `zerolatency`
-
 grade: stable
 confinement: strict
 base: core22
@@ -54,14 +46,6 @@ contact: https://github.com/husarion/depthai-snap/issues
 issues: https://github.com/husarion/depthai-snap/issues
 website: https://husarion.com/
 
-architectures:
-  - build-on: amd64
-    build-for: amd64
-  # - build-on: amd64
-  #   build-for: arm64
-  - build-on: arm64
-    build-for: arm64
-
 slots:
   shm-slot:
     interface: shared-memory
@@ -106,16 +90,12 @@ apps:
   start:
     command: usr/bin/start_launcher.sh
 
+  restart:
+    command: usr/bin/restart_launcher.sh
+
   stop:
     command: usr/bin/stop_launcher.sh
 
-  image-view:
-    command: usr/bin/image_view_launcher.sh
-    command-chain: [usr/bin/ros_setup.sh]
-    plugs: [network, network-bind, shm-plug, desktop, desktop-legacy, wayland, unity7, opengl]
-    slots: [shm-slot]
-    extensions: [ros2-humble-ros-base]
-
 parts:
 
   husarion-depthai:
@@ -138,14 +118,6 @@ parts:
       craftctl set version="$version"
       craftctl set grade="stable"
 
-  image-view:
-    plugin: nil
-    stage-packages:
-      - ros-humble-image-view
-      - libcanberra-gtk-module 
-      - libcanberra-gtk3-module
-      - libglu1-mesa
-
   local-files:
     plugin: dump
     source: snap/local/
@@ -159,7 +131,7 @@ parts:
   husarion-snap-common:
     plugin: dump
     source: https://github.com/husarion/husarion-snap-common
-    source-branch: "0.3.0"
+    source-branch: "0.5.0"
     source-type: git
     build-environment:
       - YQ_VERSION: "v4.35.1"
diff --git a/snapcraft_template.yaml.jinja2 b/snapcraft_template.yaml.jinja2
new file mode 100644
index 0000000..e5f9f08
--- /dev/null
+++ b/snapcraft_template.yaml.jinja2
@@ -0,0 +1,151 @@
+name: husarion-depthai
+adopt-info: husarion-depthai
+license: Apache-2.0
+summary: OAK-x cameras driver for Husarion robots
+icon: snap/gui/icon.png
+description: |
+  The `husarion-depthai` snap contains all the necessary software to bring the OAK-x cameras up.
+  
+  **Parameters**
+
+  The snap provides the following configurable parameters (`param name`: `default value`):
+
+  * `driver`: `{...}`
+  * `ros`: `{...}`
+
+  The `ros` contains the following keys:
+
+  * `ros.domain-id`: `0` - Sets the `ROS_DOMAIN_ID` environment variable for the ROS driver.
+  * `ros.localhost-only`: `0` - Sets the `ROS_LOCALHOST_ONLY` environment variable for the ROS driver.
+  * `ros.transport`: `udp` - Configures DDS transport. Options are `udp`, `shm`, `builtin` (or `rmw_fastrtps_cpp`), `rmw_cyclonedds_cpp`. Corresponding DDS XML files can be found in the `/var/snap/husarion-depthai/common` directory (custom FastDDS setups can also be created here).
+  * `ros.namespace`: `(unset)` - Namespace for all topics and transforms.
+
+  The `driver` contains the following keys:
+
+  * name: `oak`
+  * parent-frame: `oak-d-base-frame`
+  * camera-model: `OAK-D`
+  * cam-pos-x: `0.0`
+  * cam-pos-y: `0.0`
+  * cam-pos-z: `0.0`
+  * cam-roll: `0.0`
+  * cam-pitch: `0.0`
+  * cam-yaw: `0.0`
+  * camera-params: `default` - Sets the camera parameters based on `/var/snap/husarion-depthai/common/camera-params-<VALUE>.yaml`
+  * ffmpeg-params: `default` - Sets the FFMPEG parameters based on `/var/snap/husarion-camera/common/ffmpeg-params-<VALUE>.yaml`
+  
+  To set the parameters, use the snap set command, e.g.,
+
+     snap set husarion-depthai driver.namespace=robot
+
+grade: stable
+confinement: strict
+base: {{ 'core22' if ros_distro == 'humble' else 'core24' }}
+
+contact: https://github.com/husarion/depthai-snap/issues
+issues: https://github.com/husarion/depthai-snap/issues
+website: https://husarion.com/
+
+slots:
+  shm-slot:
+    interface: shared-memory
+    write: ['*'] # paths are relative to /dev/shm
+  # c189-slot:
+  #   interface: custom-device
+  #   custom-device: c189
+  #   files:
+  #     write:
+  #       - /run/udev/data/c189:*
+
+plugs:
+  shm-plug:
+    interface: shared-memory
+    shared-memory: shm-slot
+    private: false
+
+  # c189-plug:
+  #   interface: custom-device
+  #   custom-device: c189
+
+apps:
+
+  daemon:
+    command: usr/bin/launcher.sh
+    command-chain: [usr/bin/ros_setup.sh]
+    daemon: simple
+    install-mode: enable
+    plugs: [network, network-bind, shm-plug, raw-usb]
+    slots: [shm-slot]
+    extensions: [ros2-{{ ros_distro }}-ros-base]
+
+  husarion-depthai:
+    command: usr/bin/launcher.sh
+    command-chain: [usr/bin/check_daemon_running.sh, usr/bin/ros_setup.sh]
+    plugs: [network, network-bind, shm-plug, raw-usb]
+    # plugs: [network, network-bind, shm-plug, raw-usb, system-observe, hardware-observe, network-control, network-observe, camera, browser-support]
+    # block-devices, 
+    slots: [shm-slot]
+    extensions: [ros2-{{ ros_distro }}-ros-base]
+
+  start:
+    command: usr/bin/start_launcher.sh
+
+  restart:
+    command: usr/bin/restart_launcher.sh
+
+  stop:
+    command: usr/bin/stop_launcher.sh
+
+parts:
+
+  husarion-depthai:
+    plugin: nil
+    stage-packages:
+      - ros-{{ ros_distro }}-depthai-ros
+      - ros-{{ ros_distro }}-image-transport
+      - ros-{{ ros_distro }}-image-transport-plugins
+      # https://index.ros.org/p/ffmpeg_image_transport/github-ros-misc-utilities-ffmpeg_image_transport/#humble
+      - ros-{{ ros_distro }}-ffmpeg-image-transport
+      - ffmpeg
+      - ros-{{ ros_distro }}-cv-bridge
+      # needed to run ffmpeg without errors:
+      - libpulse-dev
+      - libblas3
+      - libjpeg-turbo8-dev
+    override-stage: |
+      craftctl default
+      version="$(apt-cache policy ros-{{ ros_distro }}-depthai-ros-driver | grep Candidate | awk '{print $2}')"
+      craftctl set version="$version"
+      craftctl set grade="stable"
+
+  local-files:
+    plugin: dump
+    source: snap/local/
+    organize:
+      '*.sh': usr/bin/
+      '*.py': usr/bin/
+      '*.yaml': usr/share/husarion-depthai/config/
+      # '*.xml': usr/share/husarion-depthai/config/
+      # '*.json': usr/share/husarion-depthai/config/
+
+  husarion-snap-common:
+    plugin: dump
+    source: https://github.com/husarion/husarion-snap-common
+    source-branch: "0.5.0"
+    source-type: git
+    build-environment:
+      - YQ_VERSION: "v4.35.1"
+    build-packages:
+      - curl
+    organize:
+      'local-ros/*.sh': usr/bin/
+      'local-ros/*.xml': usr/share/husarion-snap-common/config/
+      'local-ros/ros.env': usr/share/husarion-snap-common/config/
+    override-build: |
+      craftctl default
+      curl -L "https://github.com/mikefarah/yq/releases/download/${YQ_VERSION}/yq_linux_${CRAFT_ARCH_BUILD_FOR}" -o $CRAFT_PART_BUILD/yq
+    override-prime: |
+      craftctl default
+      cp $CRAFT_PART_BUILD/yq $CRAFT_PRIME/usr/bin/yq
+      chmod +x $CRAFT_PRIME/usr/bin/yq
+      rm -rf $CRAFT_PRIME/local-ros
\ No newline at end of file