Tracking converter for ROS2 Foxy

daniqsilva25 commented 4 months ago

Overview

Issue

Issue link (if present): https://github.com/luxonis/depthai-ros/issues/146 Issue description: Absence of a tracking converter. This PR adds a tracking converter to enable object tracking with ROS. Related PRs

Changes

ROS distro: Foxy List of changes:

Added other spatial detection converter that uses standard ROS2 vision msgs for more compatibility with other ROS2 code
Added a track detection converter and track spatial detection converter for tracking purposes with 2D or 3D detections, respectively
Added new ROS2 messages for tracking: TrackDetection2D and TrackDetection2DArray. The first message adds two important fields for tracking tasks: tracking age and tracking status, both available in the depthai pipeline. The second message is just an array of the first one.

Testing

Hardware used: OAK-1, OAK-D Depthai library version: 2.21.2.0

Visuals from testing

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

daniqsilva25 commented 4 months ago

Hi @Serafadam @saching13, I changed the indentation format of the source files from tabs to spaces after seeing the output of the clang-format test. Can you please review this? Thanks!

Serafadam commented 4 months ago

@daniqsilva25 Could you respond to those points?

Could you add an example node in depthai_examples using those new converters?
Would it be possible to also create a PR for humble branch? As foxy is EOL, those converters won't be available in new Docker images/deb releases. Also, it seems parts of the code need reformatting.

daniqsilva25 commented 4 months ago

@Serafadam I created the PR for the humble branch #505 and added some examples in both branches (foxy and humble).

daniqsilva25 commented 4 months ago

@Serafadam I've reformatted the code of the converters.

Serafadam commented 3 months ago

Hi @daniqsilva25 , overall LGTM, but it seems that it still fails formatting checks,with clang format you can do the reformatting by running in your workspace ament_clang_format src/depthai-ros --config ${workspaceFolder}/src/depthai-ros/.clang-format --reformat

daniqsilva25 commented 3 months ago

Hi @daniqsilva25 , overall LGTM, but it seems that it still fails formatting checks,with clang format you can do the reformatting by running in your workspace ament_clang_format src/depthai-ros --config ${workspaceFolder}/src/depthai-ros/.clang-format --reformat

Hi @Serafadam, just did that for both PRs. Thanks.

luxonis / depthai-ros