Merge branch 'humble' into humble_pointcloud_example_fix

luxonis · Nov 7, 2024 · 1ccf7a6 · 1ccf7a6
2 parents 927556e + 9132443
commit 1ccf7a6
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Showing 3 changed files with 10 additions and 3 deletions.
diff --git a/depthai-ros/CHANGELOG.rst b/depthai-ros/CHANGELOG.rst
@@ -2,12 +2,17 @@
 Changelog for package depthai-ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.10.3 (2024-11-07)
+
+2.10.4 (2024-11-07)
 -------------------
 * Fix rectified topic names
 * Fix pointcloud launch
 * Add sensor parameters for max autoexposure, sharpness, luma and chroma denoise
 
+2.10.3 (2024-10-14)
+-------------------
+* Allow setting USB speed without specifying device information
+
 2.10.2 (2024-09-26)
 -------------------
 * Fix Stereo K matrix publishing

diff --git a/depthai_ros_driver/src/camera.cpp b/depthai_ros_driver/src/camera.cpp
@@ -199,7 +199,9 @@ void Camera::startDevice() {
         try {
             if(mxid.empty() && ip.empty() && usb_id.empty()) {
                 RCLCPP_INFO(get_logger(), "No ip/mxid specified, connecting to the next available device.");
-                device = std::make_shared<dai::Device>();
+                auto info = dai::Device::getAnyAvailableDevice();
+                auto speed = ph->getUSBSpeed();
+                device = std::make_shared<dai::Device>(std::get<1>(info), speed);
                 camRunning = true;
             } else {
                 std::vector<dai::DeviceInfo> availableDevices = dai::Device::getAllAvailableDevices();

diff --git a/depthai_ros_driver/src/param_handlers/camera_param_handler.cpp b/depthai_ros_driver/src/param_handlers/camera_param_handler.cpp
@@ -28,7 +28,7 @@ void CameraParamHandler::declareParams() {
     declareAndLogParam<bool>("i_enable_diagnostics", true);
     declareAndLogParam<bool>("i_enable_sync", true);
     declareAndLogParam<bool>("i_enable_ir", true);
-    declareAndLogParam<std::string>("i_usb_speed", "SUPER_PLUS");
+    declareAndLogParam<std::string>("i_usb_speed", "SUPER");
     declareAndLogParam<std::string>("i_mx_id", "");
     declareAndLogParam<std::string>("i_ip", "");
     declareAndLogParam<std::string>("i_usb_port_id", "");