SR-LR Update Iron - Githubissues

Overview

Author: @Serafadam

Issue link (if present): https://github.com/luxonis/depthai-ros/issues/471 https://github.com/luxonis/depthai-ros/issues/470 Issue description: Update out-of-the box experience for LR/SR/Wide users. Additionally add an options to attach NNs to sensor/stereo nodes Related PRs

ROS distro: Iron List of changes:

Add URDF setup for LR and SR
Automatically change ISP scaling parameter based on camera model to prevent unusable configurations
Custom ISP num/den for LR for better output syncing
Add NN enabling for individual sensors
Add Spatial NN to a stereo setup
Add parameter to enable/disable camera restart on lack of diagnostic data
Update NN publishers to provide correct frame ID based on set socket
Replace pass_tf_args_as_params with publish_tf_from_calibration argument for clarity
RSP's robot description param is now namespaced to be consistent with TF publisher

Hardware used: OAK-D-SR, OAK-D-LR, OAK-D-PRO-W (OV9872) Depthai library version: 2.23

Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.