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Connect to a Specific Device using IP address as input #153

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Connect to a Specific Device using IP address as input #153

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f73904f
Stereo inertial publisher node now supports a way to connect to indiv…
Oct 14, 2022
20a584e
Added useWithMxId option as well an option to list all devices and co…
Nov 4, 2022
e57960f
useWithIP, useWithMxId, and none of them (connect automatically, defa…
Nov 8, 2022
972091c
Stereo inertial node launch file updated to accommodate new parameter…
Nov 9, 2022
2cfcb1e
if condition is fixed to include any_state which corresponds to devic…
Nov 11, 2022
4e9eea5
Unnecessary condition under useWithIP conditinal branch removed.
Nov 15, 2022
d31e32f
Added conditions to ROS1 for the case when users select useWithIP or …
Nov 16, 2022
9d3f9d3
now using standard get all available devices function to get a vector…
Nov 28, 2022
c0b5e95
simplifying the code.
Dec 1, 2022
0676041
Clearing out unnecessary params from the previous commits.
Dec 1, 2022
d9b41bd
Fixed non empty ipaddress and mxId check for ROS2 launch file.
Jan 3, 2023
9514c6e
fixing ros2 pnh error
Feb 25, 2023
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37 changes: 37 additions & 0 deletions depthai_examples/launch/multi_stereo_inertial_node.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
<?xml version="1.0"?>
<launch>
<!-- Multiple camera args -->
<arg name="enable_camera1" default="true"/>
<arg name="enable_camera2" default="false"/>
<arg name="useWithIP_camera1" default="false"/>
<arg name="useWithIP_camera2" default="false"/>
<arg name="ip_address_camera1" default=""/>
<arg name="ip_address_camera2" default=""/>
<arg name="useWithMxId_camera1" default="false"/>
<arg name="useWithMxId_camera2" default="false"/>
<arg name="mxId_camera1" default=""/>
<arg name="mxId_camera2" default=""/>
<arg name="tf_prefix_camera1" default="oak_front"/>
<arg name="tf_prefix_camera2" default="oak_back"/>

<!-- First Camera -->
<include if="$(eval arg('enable_camera1') == true)" file="$(find depthai_examples)/launch/stereo_inertial_node.launch">
<arg name="tf_prefix" value="$(arg tf_prefix_camera1)" />
<arg name="useWithIP" value="$(arg useWithIP_camera1)"/>
<arg name="ipAddress" value="$(arg ip_address_camera1)"/>
<arg name="useWithMxId" value="$(arg useWithMxId_camera1)"/>
<arg name="mxId" value="$(arg mxId_camera1)"/>
</include>

<!-- Second Camera -->
<include if="$(eval arg('enable_camera2') == true)" file="$(find depthai_examples)/launch/stereo_inertial_node.launch">
<arg name="tf_prefix" value="$(arg tf_prefix_camera2)" />
<arg name="useWithIP" value="$(arg useWithIP_camera2)"/>
<arg name="ipAddress" value="$(arg ip_address_camera2)"/>
<arg name="useWithMxId" value="$(arg useWithMxId_camera2)"/>
<arg name="mxId" value="$(arg mxId_camera2)"/>
</include>

<!-- More cameras can be added in the same fashion -->

</launch>
4 changes: 3 additions & 1 deletion depthai_examples/launch/stereo_inertial_node.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
<?xml version="1.0"?>
<launch>
<!-- <args for urdf/> -->
<arg name="ipAddress" default=""/>
<arg name="mxId" default=""/>
<arg name="usb2Mode" default="false"/>
<arg name="poeMode" default="false"/>
Expand Down Expand Up @@ -55,7 +56,7 @@
<arg name="enableFloodLight" default="false"/>
<arg name="dotProjectormA" default="200.0"/>
<arg name="floodLightmA" default="200.0"/>
<arg name="enableRviz" default="true"/>
<arg name="enableRviz" default="false"/>
<arg name="enableMarkerPublish" default="false" />

<include file="$(find depthai_bridge)/launch/urdf.launch">
Expand All @@ -73,6 +74,7 @@

<!-- launch-prefix="xterm -e gdb (add [- - args] without space) -->
<node name="stereo_inertial_publisher" pkg="depthai_examples" type="stereo_inertial_node" output="screen" required="true">
<param name="ipAddress" value="$(arg ipAddress)"/>
<param name="mxId" value="$(arg mxId)"/>
<param name="usb2Mode" value="$(arg usb2Mode)"/>
<param name="poeMode" value="$(arg poeMode)"/>
Expand Down
16 changes: 11 additions & 5 deletions depthai_examples/launch/stereo_inertial_node.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ def generate_launch_description():
'rviz', 'stereoInertial.rviz')
default_resources_path = os.path.join(depthai_examples_path,
'resources')

ipAddress = LaunchConfiguration('ipAddress', default = 'x')
mxId = LaunchConfiguration('mxId', default = 'x')
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it is x here. you are checking for empty in the code.

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@saching13 Good catch! I fixed it with the new commit

usb2Mode = LaunchConfiguration('usb2Mode', default = False)
poeMode = LaunchConfiguration('poeMode', default = False)
Expand Down Expand Up @@ -78,10 +78,15 @@ def generate_launch_description():
enableRviz = LaunchConfiguration('enableRviz', default = True)


declare_ipAddress_cmd = DeclareLaunchArgument(
'ipAddress',
default_value=ipAddress,
description='select the device by passing the IP address of the device.')

declare_mxId_cmd = DeclareLaunchArgument(
'mxId',
default_value=mxId,
description='select the device by passing the MxID of the device. It will connect to first available device if left empty.')
description='select the device by passing the MxID of the device.')

declare_usb2Mode_cmd = DeclareLaunchArgument(
'usb2Mode',
Expand Down Expand Up @@ -318,7 +323,8 @@ def generate_launch_description():
stereo_node = launch_ros.actions.Node(
package='depthai_examples', executable='stereo_inertial_node',
output='screen',
parameters=[{'mxId': mxId},
parameters=[{'ipAddress': ipAddress},
{'mxId': mxId},
{'usb2Mode': usb2Mode},
{'poeMode': poeMode},
{'resourceBaseFolder': resourceBaseFolder},
Expand Down Expand Up @@ -422,6 +428,7 @@ def generate_launch_description():

ld = LaunchDescription()

ld.add_action(declare_ipAddress_cmd)
ld.add_action(declare_mxId_cmd)
ld.add_action(declare_usb2Mode_cmd)
ld.add_action(declare_poeMode_cmd)
Expand Down Expand Up @@ -485,5 +492,4 @@ def generate_launch_description():
# ld.add_action(point_cloud_node)
if LaunchConfigurationEquals('enableRviz', 'True') and rviz_node is not None:
ld.add_action(rviz_node)
return ld

return ld
7 changes: 4 additions & 3 deletions depthai_examples/ros1_src/stereo_inertial_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -275,7 +275,7 @@ int main(int argc, char** argv) {
ros::init(argc, argv, "stereo_inertial_node");
ros::NodeHandle pnh("~");

std::string tfPrefix, mode, mxId, resourceBaseFolder, nnPath;
std::string tfPrefix, mode, mxId, resourceBaseFolder, nnPath, ipAddress;
std::string monoResolution = "720p", rgbResolution = "1080p";
int badParams = 0, stereo_fps, confidence, LRchecktresh, imuModeParam, detectionClassesCount, expTime, sensIso;
int rgbScaleNumerator, rgbScaleDinominator, previewWidth, previewHeight;
Expand All @@ -286,6 +286,7 @@ int main(int argc, char** argv) {
double dotProjectormA, floodLightmA;
std::string nnName(BLOB_NAME); // Set your blob name for the model here

badParams += !pnh.getParam("ipAddress", ipAddress);
badParams += !pnh.getParam("mxId", mxId);
badParams += !pnh.getParam("usb2Mode", usb2Mode);
badParams += !pnh.getParam("poeMode", poeMode);
Expand Down Expand Up @@ -379,7 +380,7 @@ int main(int argc, char** argv) {
std::cout << "Listing available devices..." << std::endl;
for(auto deviceInfo : availableDevices) {
std::cout << "Device Mx ID: " << deviceInfo.getMxId() << std::endl;
if(deviceInfo.getMxId() == mxId) {
if(deviceInfo.getMxId() == mxId || deviceInfo.name == ipAddress) {
if(deviceInfo.state == X_LINK_UNBOOTED || deviceInfo.state == X_LINK_BOOTLOADER) {
isDeviceFound = true;
if(poeMode) {
Expand All @@ -392,7 +393,7 @@ int main(int argc, char** argv) {
throw std::runtime_error("ros::NodeHandle() from Node \"" + pnh.getNamespace() + "\" DepthAI Device with MxId \"" + mxId
+ "\" is already booted on different process. \"");
}
} else if(mxId.empty()) {
} else if(mxId.empty() && ipAddress.empty()) {
isDeviceFound = true;
device = std::make_shared<dai::Device>(pipeline);
}
Expand Down
19 changes: 11 additions & 8 deletions depthai_examples/ros2_src/stereo_inertial_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -274,7 +274,7 @@ int main(int argc, char** argv) {
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("stereo_inertial_node");

std::string tfPrefix, mode, mxId, resourceBaseFolder, nnPath;
std::string tfPrefix, mode, mxId, resourceBaseFolder, nnPath, ipAddress;
std::string monoResolution = "720p", rgbResolution = "1080p";
int badParams = 0, stereo_fps, confidence, LRchecktresh, imuModeParam, detectionClassesCount, expTime, sensIso;
int rgbScaleNumerator, rgbScaleDinominator, previewWidth, previewHeight;
Expand All @@ -285,6 +285,7 @@ int main(int argc, char** argv) {
double dotProjectormA, floodLightmA;
std::string nnName(BLOB_NAME); // Set your blob name for the model here

node->declare_parameter("ipAddress", "");
node->declare_parameter("mxId", "");
node->declare_parameter("usb2Mode", false);
node->declare_parameter("poeMode", false);
Expand Down Expand Up @@ -329,6 +330,7 @@ int main(int argc, char** argv) {

// updating parameters if defined in launch file.

node->get_parameter("ipAddress", ipAddress);
node->get_parameter("mxId", mxId);
node->get_parameter("usb2Mode", usb2Mode);
node->get_parameter("poeMode", poeMode);
Expand Down Expand Up @@ -392,7 +394,7 @@ int main(int argc, char** argv) {
dai::Pipeline pipeline;
int width, height;
bool isDeviceFound = false;
std::tie(pipeline, width, height) = createPipeline(enableDepth,
std::tie(pipeline, width, height) = createPipeline(enableDepth,
enableSpatialDetection,
lrcheck,
extended,
Expand All @@ -418,7 +420,7 @@ int main(int argc, char** argv) {
std::cout << "Listing available devices..." << std::endl;
for(auto deviceInfo : availableDevices) {
std::cout << "Device Mx ID: " << deviceInfo.getMxId() << std::endl;
if(deviceInfo.getMxId() == mxId) {
if(deviceInfo.getMxId() == mxId || deviceInfo.name == ipAddress) {
if(deviceInfo.state == X_LINK_UNBOOTED || deviceInfo.state == X_LINK_BOOTLOADER) {
isDeviceFound = true;
if(poeMode) {
Expand All @@ -428,22 +430,23 @@ int main(int argc, char** argv) {
}
break;
} else if(deviceInfo.state == X_LINK_BOOTED) {
throw std::runtime_error("\" DepthAI Device with MxId \"" + mxId + "\" is already booted on different process. \"");
throw std::runtime_error("ros::NodeHandle() from Node \"" + pnh.getNamespace() + "\" DepthAI Device with MxId \"" + mxId
+ "\" is already booted on different process. \"");
}
} else if(mxId == "x") {
} else if(mxId.empty() && ipAddress.empty()) {
isDeviceFound = true;
device = std::make_shared<dai::Device>(pipeline);
}
}

if(!isDeviceFound) {
throw std::runtime_error("\" DepthAI Device with MxId \"" + mxId + "\" not found. \"");
throw std::runtime_error("ros::NodeHandle() from Node \"" + pnh.getNamespace() + "\" DepthAI Device with MxId \"" + mxId + "\" not found. \"");
}

if(!poeMode) {
std::cout << "Device USB status: " << usbStrings[static_cast<int32_t>(device->getUsbSpeed())] << std::endl;
}


// Apply camera controls
auto controlQueue = device->getInputQueue("control");

Expand Down Expand Up @@ -676,4 +679,4 @@ int main(int argc, char** argv) {
}

return 0;
}
}