From 12a50622e3cba01b53b276fb89f89ccfff954926 Mon Sep 17 00:00:00 2001 From: Pavlo Kolomiiets Date: Fri, 1 Mar 2019 11:27:10 +0200 Subject: [PATCH 01/94] Added filling correct Tx, Ty values in projection matrix of right camera. https://github.com/intel-ros/realsense/issues/427 --- realsense2_camera/src/base_realsense_node.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 343ad5d62..c51e8b17d 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1746,6 +1746,14 @@ void BaseRealSenseNode::updateStreamCalibData(const rs2::video_stream_profile& v _camera_info[stream_index].P.at(10) = 1; _camera_info[stream_index].P.at(11) = 0; + // Set Tx, Ty for right camera + if (stream_index == INFRA2 && _enable[INFRA1]) + { + const auto& ex = getAProfile(INFRA2).get_extrinsics_to(getAProfile(INFRA1)); + _camera_info[stream_index].P.at(3) = -intrinsic.fx * ex.translation[0]; // Tx + _camera_info[stream_index].P.at(7) = -intrinsic.fy * ex.translation[1]; // Ty + } + _camera_info[stream_index].distortion_model = "plumb_bob"; // set R (rotation matrix) values to identity matrix From c7c0200fb6a684ed63e8aad278aeb136102a7f55 Mon Sep 17 00:00:00 2001 From: Alex Fernandes Neves Date: Fri, 17 Apr 2020 13:25:50 +0200 Subject: [PATCH 02/94] Adding respawn option on the nodelet launch --- realsense2_camera/launch/includes/nodelet.launch.xml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/realsense2_camera/launch/includes/nodelet.launch.xml b/realsense2_camera/launch/includes/nodelet.launch.xml index d780c1ee2..c12c1e123 100644 --- a/realsense2_camera/launch/includes/nodelet.launch.xml +++ b/realsense2_camera/launch/includes/nodelet.launch.xml @@ -8,6 +8,7 @@ + @@ -90,8 +91,8 @@ - - + + From 3b0f7c8f4ceff36c4563b921d6e899a0dccd0190 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tim=20=C3=9Cbelh=C3=B6r?= Date: Thu, 10 Dec 2020 10:57:04 +0100 Subject: [PATCH 03/94] correct substitution arg syntax --- realsense2_description/urdf/_d415.urdf.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense2_description/urdf/_d415.urdf.xacro b/realsense2_description/urdf/_d415.urdf.xacro index c7c743cd8..338a0c562 100644 --- a/realsense2_description/urdf/_d415.urdf.xacro +++ b/realsense2_description/urdf/_d415.urdf.xacro @@ -136,7 +136,7 @@ aluminum peripherial evaluation case. - + From 3b3136e6e56b8bd21c438d5b0cd16f1c1d5baf86 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tim=20=C3=9Cbelh=C3=B6r?= Date: Mon, 21 Dec 2020 08:23:38 +0100 Subject: [PATCH 04/94] Consistent add_plug in xacros and launch files --- realsense2_description/urdf/_d415.urdf.xacro | 2 +- realsense2_description/urdf/_d435.urdf.xacro | 5 ++--- realsense2_description/urdf/_l515.urdf.xacro | 5 ++--- realsense2_description/urdf/test_d415_camera.urdf.xacro | 3 ++- realsense2_description/urdf/test_d435_camera.urdf.xacro | 3 ++- realsense2_description/urdf/test_l515_camera.urdf.xacro | 3 ++- 6 files changed, 11 insertions(+), 10 deletions(-) diff --git a/realsense2_description/urdf/_d415.urdf.xacro b/realsense2_description/urdf/_d415.urdf.xacro index 338a0c562..4d6529cda 100644 --- a/realsense2_description/urdf/_d415.urdf.xacro +++ b/realsense2_description/urdf/_d415.urdf.xacro @@ -12,7 +12,7 @@ aluminum peripherial evaluation case. - + - - + - From afa71732df4884c9dc4c30d881b6e516d529be1b Mon Sep 17 00:00:00 2001 From: Marc Alban Date: Wed, 6 Jan 2021 20:53:12 -0600 Subject: [PATCH 06/94] Add service to reset driver and catch more exceptions when shutting down device. --- .../include/realsense_node_factory.h | 9 +- realsense2_camera/src/base_realsense_node.cpp | 15 +- .../src/realsense_node_factory.cpp | 167 ++++++++++++------ 3 files changed, 131 insertions(+), 60 deletions(-) diff --git a/realsense2_camera/include/realsense_node_factory.h b/realsense2_camera/include/realsense_node_factory.h index ff9f9c01b..93062fc24 100644 --- a/realsense2_camera/include/realsense_node_factory.h +++ b/realsense2_camera/include/realsense_node_factory.h @@ -21,6 +21,7 @@ #include #include #include +#include namespace realsense2_camera { @@ -65,12 +66,15 @@ namespace realsense2_camera void change_device_callback(rs2::event_information& info); void getDevice(rs2::device_list list); virtual void onInit() override; + void initialize(const ros::WallTimerEvent &ignored); void tryGetLogSeverity(rs2_log_severity& severity) const; + bool reset(); + bool handleReset(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); static std::string parse_usb_port(std::string line); bool toggle_sensor_callback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res); rs2::device _device; - std::unique_ptr _realSenseNode; + std::shared_ptr _realSenseNode; rs2::context _ctx; std::string _serial_no; std::string _usb_port_id; @@ -79,6 +83,9 @@ namespace realsense2_camera std::thread _query_thread; bool _is_alive; ros::ServiceServer toggle_sensor_srv; + bool _initialized; + ros::WallTimer _init_timer; + ros::ServiceServer _reset_srv; }; }//end namespace diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 54533f42d..58ab293b0 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -150,18 +150,19 @@ BaseRealSenseNode::~BaseRealSenseNode() std::set module_names; for (const std::pair>& profile : _enabled_profiles) { - std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME); - std::pair< std::set::iterator, bool> res = module_names.insert(module_name); - if (res.second) + try { - try + std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME); + std::pair< std::set::iterator, bool> res = module_names.insert(module_name); + if (res.second) { _sensors[profile.first].stop(); _sensors[profile.first].close(); } - catch(const rs2::wrong_api_call_sequence_error& e) - { - } + } + catch (const rs2::error& e) + { + ROS_ERROR_STREAM("Exception: " << e.what()); } } } diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index 248df921e..46247ee1c 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -30,7 +30,8 @@ std::string api_version_to_string(int version) } RealSenseNodeFactory::RealSenseNodeFactory(): - _is_alive(true) + _is_alive(true), + _initialized(false) { rs2_error* e = nullptr; std::string running_librealsense_version(api_version_to_string(rs2_get_api_version(&e))); @@ -55,11 +56,26 @@ RealSenseNodeFactory::RealSenseNodeFactory(): RealSenseNodeFactory::~RealSenseNodeFactory() { + _initialized = false; _is_alive = false; if (_query_thread.joinable()) { _query_thread.join(); } + + try + { + _realSenseNode.reset(); + if (_device) + { + _device.hardware_reset(); + _device = rs2::device(); + } + } + catch (const rs2::error& e) + { + ROS_ERROR_STREAM("Exception: " << e.what()); + } } std::string RealSenseNodeFactory::parse_usb_port(std::string line) @@ -220,23 +236,12 @@ void RealSenseNodeFactory::getDevice(rs2::device_list list) void RealSenseNodeFactory::change_device_callback(rs2::event_information& info) { - if (info.was_removed(_device)) + if (_initialized) { - ROS_ERROR("The device has been disconnected!"); - _realSenseNode.reset(nullptr); - _device = rs2::device(); - } - if (!_device) - { - rs2::device_list new_devices = info.get_new_devices(); - if (new_devices.size() > 0) + if (info.was_removed(_device)) { - ROS_INFO("Checking new devices..."); - getDevice(new_devices); - if (_device) - { - StartDevice(); - } + ROS_ERROR("The device has been disconnected!"); + reset(); } } } @@ -254,6 +259,13 @@ bool RealSenseNodeFactory::toggle_sensor_callback(std_srvs::SetBool::Request &re void RealSenseNodeFactory::onInit() { + auto nh = getNodeHandle(); + _init_timer = nh.createWallTimer(ros::WallDuration(0.01), &RealSenseNodeFactory::initialize, this, true); +} + +void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored) +{ + _device = rs2::device(); try { #ifdef BPDEBUG @@ -291,6 +303,7 @@ void RealSenseNodeFactory::onInit() { privateNh.param("initial_reset", _initial_reset, false); + _is_alive = true; _query_thread = std::thread([=]() { std::chrono::milliseconds timespan(6000); @@ -309,6 +322,10 @@ void RealSenseNodeFactory::onInit() } } }); + if (!_reset_srv) + { + _reset_srv = privateNh.advertiseService("reset", &RealSenseNodeFactory::handleReset, this); + } } } catch(const std::exception& ex) @@ -326,44 +343,90 @@ void RealSenseNodeFactory::onInit() void RealSenseNodeFactory::StartDevice() { if (_realSenseNode) _realSenseNode.reset(); - ros::NodeHandle nh = getNodeHandle(); - ros::NodeHandle privateNh = getPrivateNodeHandle(); - // TODO - std::string pid_str(_device.get_info(RS2_CAMERA_INFO_PRODUCT_ID)); - uint16_t pid = std::stoi(pid_str, 0, 16); - switch(pid) + try { - case SR300_PID: - case SR300v2_PID: - case RS400_PID: - case RS405_PID: - case RS410_PID: - case RS460_PID: - case RS415_PID: - case RS420_PID: - case RS420_MM_PID: - case RS430_PID: - case RS430_MM_PID: - case RS430_MM_RGB_PID: - case RS435_RGB_PID: - case RS435i_RGB_PID: - case RS455_PID: - case RS465_PID: - case RS_USB2_PID: - case RS_L515_PID_PRE_PRQ: - case RS_L515_PID: - _realSenseNode = std::unique_ptr(new BaseRealSenseNode(nh, privateNh, _device, _serial_no)); - break; - case RS_T265_PID: - _realSenseNode = std::unique_ptr(new T265RealsenseNode(nh, privateNh, _device, _serial_no)); - break; - default: - ROS_FATAL_STREAM("Unsupported device!" << " Product ID: 0x" << pid_str); - ros::shutdown(); - exit(1); + ros::NodeHandle nh = getNodeHandle(); + ros::NodeHandle privateNh = getPrivateNodeHandle(); + // TODO + std::string pid_str(_device.get_info(RS2_CAMERA_INFO_PRODUCT_ID)); + uint16_t pid = std::stoi(pid_str, 0, 16); + switch(pid) + { + case SR300_PID: + case SR300v2_PID: + case RS400_PID: + case RS405_PID: + case RS410_PID: + case RS460_PID: + case RS415_PID: + case RS420_PID: + case RS420_MM_PID: + case RS430_PID: + case RS430_MM_PID: + case RS430_MM_RGB_PID: + case RS435_RGB_PID: + case RS435i_RGB_PID: + case RS455_PID: + case RS465_PID: + case RS_USB2_PID: + case RS_L515_PID_PRE_PRQ: + case RS_L515_PID: + _realSenseNode = std::shared_ptr(new BaseRealSenseNode(nh, privateNh, _device, _serial_no)); + break; + case RS_T265_PID: + _realSenseNode = std::shared_ptr(new T265RealsenseNode(nh, privateNh, _device, _serial_no)); + break; + default: + ROS_FATAL_STREAM("Unsupported device!" << " Product ID: 0x" << pid_str); + ros::shutdown(); + exit(1); + } + assert(_realSenseNode); + _realSenseNode->publishTopics(); + _initialized = true; } - assert(_realSenseNode); - _realSenseNode->publishTopics(); + catch (const rs2::error& e) + { + ROS_ERROR_STREAM("Exception: " << e.what()); + } +} + +bool RealSenseNodeFactory::reset() +{ + if (!_initialized) + { + return false; + } + + _initialized = false; + + _is_alive = false; + if (_query_thread.joinable()) + { + _query_thread.join(); + } + + try + { + _realSenseNode.reset(); + if (_device) + { + _device.hardware_reset(); + _device = rs2::device(); + } + } + catch (const rs2::error& e) + { + ROS_ERROR_STREAM("Exception: " << e.what()); + } + + _init_timer = getNodeHandle().createWallTimer(ros::WallDuration(1.0), &RealSenseNodeFactory::initialize, this, true); + return true; +} + +bool RealSenseNodeFactory::handleReset(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) +{ + return reset(); } void RealSenseNodeFactory::tryGetLogSeverity(rs2_log_severity& severity) const From 7df9eacf7d4f49a450877e3a0c075fda73d5b33c Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 7 Jan 2021 15:08:10 +0200 Subject: [PATCH 07/94] If invalid profile is given, choose default profile instead, if available. --- realsense2_camera/src/base_realsense_node.cpp | 84 +++++++++++++------ 1 file changed, 57 insertions(+), 27 deletions(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 54533f42d..a1b45478d 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1006,6 +1006,7 @@ void BaseRealSenseNode::enable_devices() { auto& sens = _sensors[elem]; auto profiles = sens.get_stream_profiles(); + rs2::stream_profile default_profile, selected_profile; for (auto& profile : profiles) { auto video_profile = profile.as(); @@ -1016,26 +1017,25 @@ void BaseRealSenseNode::enable_devices() ", Height: " << video_profile.height() << ", FPS: " << video_profile.fps()); - if ((video_profile.stream_type() == elem.first) && - (_width[elem] == 0 || video_profile.width() == _width[elem]) && - (_height[elem] == 0 || video_profile.height() == _height[elem]) && - (_fps[elem] == 0 || video_profile.fps() == _fps[elem]) && - (_format.find(elem.first) == _format.end() || video_profile.format() == _format[elem.first] ) && - video_profile.stream_index() == elem.second) + if (profile.stream_type() == elem.first) { - _width[elem] = video_profile.width(); - _height[elem] = video_profile.height(); - _fps[elem] = video_profile.fps(); - - _enabled_profiles[elem].push_back(profile); - - _image[elem] = cv::Mat(_height[elem], _width[elem], _image_format[elem.first], cv::Scalar(0, 0, 0)); - - ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - width: " << _width[elem] << ", height: " << _height[elem] << ", fps: " << _fps[elem] << ", " << "Format: " << video_profile.format()); - break; + if (profile.is_default()) + { + default_profile = profile; + } + if ((_width[elem] == 0 || video_profile.width() == _width[elem]) && + (_height[elem] == 0 || video_profile.height() == _height[elem]) && + (_fps[elem] == 0 || video_profile.fps() == _fps[elem]) && + (_format.find(elem.first) == _format.end() || video_profile.format() == _format[elem.first] ) && + video_profile.stream_index() == elem.second) + { + selected_profile = profile; + break; + } } + } - if (_enabled_profiles.find(elem) == _enabled_profiles.end()) + if (!selected_profile) { ROS_WARN_STREAM("Given stream configuration is not supported by the device! " << " Stream: " << rs2_stream_to_string(elem.first) << @@ -1044,6 +1044,24 @@ void BaseRealSenseNode::enable_devices() ", Height: " << _height[elem] << ", FPS: " << _fps[elem] << ", Format: " << ((_format.find(elem.first) == _format.end())? "None":rs2_format_to_string(rs2_format(_format[elem.first])))); + if (default_profile) + { + ROS_WARN_STREAM("Using default profile instead."); + selected_profile = default_profile; + } + } + if (selected_profile) + { + auto video_profile = selected_profile.as(); + _width[elem] = video_profile.width(); + _height[elem] = video_profile.height(); + _fps[elem] = video_profile.fps(); + _enabled_profiles[elem].push_back(selected_profile); + _image[elem] = cv::Mat(_height[elem], _width[elem], _image_format[elem.first], cv::Scalar(0, 0, 0)); + ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - width: " << _width[elem] << ", height: " << _height[elem] << ", fps: " << _fps[elem] << ", " << "Format: " << video_profile.format()); + } + else + { _enable[elem] = false; } } @@ -1064,6 +1082,7 @@ void BaseRealSenseNode::enable_devices() { auto& sens = _sensors[elem]; auto profiles = sens.get_stream_profiles(); + rs2::stream_profile default_profile, selected_profile; ROS_DEBUG_STREAM("Available profiles:"); for (rs2::stream_profile& profile : profiles) { @@ -1072,24 +1091,35 @@ void BaseRealSenseNode::enable_devices() } for (rs2::stream_profile& profile : profiles) { - if (profile.stream_type() == elem.first && - (_fps[elem] == 0 || profile.fps() == _fps[elem])) + if (profile.stream_type() == elem.first) { - _fps[elem] = profile.fps(); - _enabled_profiles[elem].push_back(profile); - break; + if (profile.is_default()) + default_profile = profile; + if (_fps[elem] == 0 || profile.fps() == _fps[elem]) + { + selected_profile = profile; + break; + } } } - if (_enabled_profiles.find(elem) == _enabled_profiles.end()) + if (!selected_profile) { std::string stream_name(STREAM_NAME(elem)); ROS_WARN_STREAM("No mathcing profile found for " << stream_name << " with fps=" << _fps[elem]); - ROS_WARN_STREAM("profiles found for " < Date: Mon, 11 Jan 2021 11:11:22 +0200 Subject: [PATCH 08/94] remove default profiles from launch files. --- realsense2_camera/launch/rs_camera.launch | 34 +++++++++---------- realsense2_camera/launch/rs_rgbd.launch | 28 +++++++-------- realsense2_camera/launch/rs_t265.launch | 10 +++--- realsense2_camera/src/base_realsense_node.cpp | 8 ++--- 4 files changed, 40 insertions(+), 40 deletions(-) diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch index c85dd1ce4..4acdcd17f 100644 --- a/realsense2_camera/launch/rs_camera.launch +++ b/realsense2_camera/launch/rs_camera.launch @@ -9,36 +9,36 @@ - - + + - - + + - - + + - + - - + + - - + + - - - - - - + + + + + + diff --git a/realsense2_camera/launch/rs_rgbd.launch b/realsense2_camera/launch/rs_rgbd.launch index 3232b43d2..94e97670a 100644 --- a/realsense2_camera/launch/rs_rgbd.launch +++ b/realsense2_camera/launch/rs_rgbd.launch @@ -52,29 +52,29 @@ Processing enabled by this node: - - + + - - + + - - + + - - + + - - - - - - + + + + + + diff --git a/realsense2_camera/launch/rs_t265.launch b/realsense2_camera/launch/rs_t265.launch index 9ab3073e3..1c2e9a57c 100644 --- a/realsense2_camera/launch/rs_t265.launch +++ b/realsense2_camera/launch/rs_t265.launch @@ -12,15 +12,15 @@ https://github.com/IntelRealSense/librealsense/blob/master/third-party/libtm/lib - - + + - + - - + + diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index a1b45478d..6fe176d0c 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1037,7 +1037,7 @@ void BaseRealSenseNode::enable_devices() } if (!selected_profile) { - ROS_WARN_STREAM("Given stream configuration is not supported by the device! " << + ROS_WARN_STREAM_COND((_width[elem]!=-1 && _height[elem]!=-1 && _fps[elem]!=-1), "Given stream configuration is not supported by the device! " << " Stream: " << rs2_stream_to_string(elem.first) << ", Stream Index: " << elem.second << ", Width: " << _width[elem] << @@ -1046,7 +1046,7 @@ void BaseRealSenseNode::enable_devices() ", Format: " << ((_format.find(elem.first) == _format.end())? "None":rs2_format_to_string(rs2_format(_format[elem.first])))); if (default_profile) { - ROS_WARN_STREAM("Using default profile instead."); + ROS_WARN_STREAM_COND((_width[elem]!=-1 && _height[elem]!=-1 && _fps[elem]!=-1), "Using default profile instead."); selected_profile = default_profile; } } @@ -1105,10 +1105,10 @@ void BaseRealSenseNode::enable_devices() if (!selected_profile) { std::string stream_name(STREAM_NAME(elem)); - ROS_WARN_STREAM("No mathcing profile found for " << stream_name << " with fps=" << _fps[elem]); + ROS_WARN_STREAM_COND((_fps[elem]!=-1), "No mathcing profile found for " << stream_name << " with fps=" << _fps[elem]); if (default_profile) { - ROS_WARN_STREAM("Using default profile instead."); + ROS_WARN_STREAM_COND((_fps[elem]!=-1), "Using default profile instead."); selected_profile = default_profile; } } From b4fa398f872dbbf425fdb077eb50914efe9b34f1 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 14 Jan 2021 10:50:42 +0200 Subject: [PATCH 09/94] add flag: ordered_pc - default to false. When set to true, pointcloud published in an ordered format. --- .../include/base_realsense_node.h | 2 + realsense2_camera/include/constants.h | 7 +- .../launch/includes/nodelet.launch.xml | 8 +- realsense2_camera/launch/rs_camera.launch | 6 +- realsense2_camera/src/base_realsense_node.cpp | 103 +++++++++--------- 5 files changed, 69 insertions(+), 57 deletions(-) diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index 3836ff1d7..8a4a36d17 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -255,6 +255,8 @@ namespace realsense2_camera float _depth_scale_meters; float _clipping_distance; bool _allow_no_texture_points; + bool _ordered_pc; + double _linear_accel_cov; double _angular_velocity_cov; diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index 272d846db..d8449977d 100644 --- a/realsense2_camera/include/constants.h +++ b/realsense2_camera/include/constants.h @@ -41,10 +41,11 @@ namespace realsense2_camera const uint16_t RS_L515_PID = 0x0B64; // - const bool ALIGN_DEPTH = false; - const bool POINTCLOUD = false; + const bool ALIGN_DEPTH = false; + const bool POINTCLOUD = false; const bool ALLOW_NO_TEXTURE_POINTS = false; - const bool SYNC_FRAMES = false; + const bool ORDERED_POINTCLOUD = false; + const bool SYNC_FRAMES = false; const bool PUBLISH_TF = true; const double TF_PUBLISH_RATE = 0; // Static transform diff --git a/realsense2_camera/launch/includes/nodelet.launch.xml b/realsense2_camera/launch/includes/nodelet.launch.xml index 9c458d3ed..4d12b0a3e 100644 --- a/realsense2_camera/launch/includes/nodelet.launch.xml +++ b/realsense2_camera/launch/includes/nodelet.launch.xml @@ -49,6 +49,8 @@ + + @@ -96,7 +98,7 @@ - + @@ -110,6 +112,9 @@ + + + @@ -192,7 +197,6 @@ - diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch index c85dd1ce4..9be44cd5a 100644 --- a/realsense2_camera/launch/rs_camera.launch +++ b/realsense2_camera/launch/rs_camera.launch @@ -45,6 +45,8 @@ + + @@ -60,7 +62,7 @@ - + @@ -124,6 +126,8 @@ + + diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 54533f42d..11a0a5afd 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -705,6 +705,7 @@ void BaseRealSenseNode::getParameters() } _pnh.param("allow_no_texture_points", _allow_no_texture_points, ALLOW_NO_TEXTURE_POINTS); + _pnh.param("ordered_pc", _ordered_pc, ORDERED_POINTCLOUD); _pnh.param("clip_distance", _clipping_distance, static_cast(-1.0)); _pnh.param("linear_accel_cov", _linear_accel_cov, static_cast(0.01)); _pnh.param("angular_velocity_cov", _angular_velocity_cov, static_cast(0.01)); @@ -2124,6 +2125,7 @@ void reverse_memcpy(unsigned char* dst, const unsigned char* src, size_t n) void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, const rs2::frameset& frameset) { + ROS_INFO_STREAM_ONCE("publishing " << (_ordered_pc ? "" : "un") << "ordered pointcloud."); std::vector::iterator pc_filter = find_if(_filters.begin(), _filters.end(), [] (NamedFilter s) { return s._name == "pointcloud"; } ); rs2_stream texture_source_id = static_cast((int)pc_filter->_filter->get_option(rs2_option::RS2_OPTION_STREAM_FILTER)); bool use_texture = texture_source_id != RS2_STREAM_ANY; @@ -2153,30 +2155,14 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co const rs2::vertex* vertex = pc.get_vertices(); const rs2::texture_coordinate* color_point = pc.get_texture_coordinates(); - _valid_pc_indices.clear(); - for (size_t point_idx=0; point_idx < pc.size(); point_idx++, vertex++, color_point++) - { - if (static_cast(vertex->z) > 0) - { - float i = static_cast(color_point->u); - float j = static_cast(color_point->v); - if (_allow_no_texture_points || (i >= 0.f && i <= 1.f && j >= 0.f && j <= 1.f)) - { - _valid_pc_indices.push_back(point_idx); - } - } - } - - _msg_pointcloud.header.stamp = t; - _msg_pointcloud.header.frame_id = _optical_frame_id[DEPTH]; - _msg_pointcloud.width = _valid_pc_indices.size(); - _msg_pointcloud.height = 1; - _msg_pointcloud.is_dense = true; + rs2_intrinsics depth_intrin = pc.get_profile().as().get_intrinsics(); sensor_msgs::PointCloud2Modifier modifier(_msg_pointcloud); modifier.setPointCloud2FieldsByString(1, "xyz"); + modifier.resize(pc.size()); vertex = pc.get_vertices(); + size_t valid_count(0); if (use_texture) { rs2::video_frame texture_frame = (*texture_frame_itr).as(); @@ -2207,32 +2193,31 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co color_point = pc.get_texture_coordinates(); float color_pixel[2]; - unsigned int prev_idx(0); - for (auto idx=_valid_pc_indices.begin(); idx != _valid_pc_indices.end(); idx++) + for (size_t point_idx=0; point_idx < pc.size(); point_idx++, vertex++, color_point++) { - unsigned int idx_jump(*idx-prev_idx); - prev_idx = *idx; - vertex+=idx_jump; - color_point+=idx_jump; - - *iter_x = vertex->x; - *iter_y = vertex->y; - *iter_z = vertex->z; - float i(color_point->u); float j(color_point->v); - if (i >= 0.f && i <= 1.f && j >= 0.f && j <= 1.f) + bool valid_color_pixel(i >= 0.f && i <=1.f && j >= 0.f && j <=1.f); + bool valid_pixel(vertex->z > 0 && (valid_color_pixel || _allow_no_texture_points)); + if (valid_pixel || _ordered_pc) { - color_pixel[0] = i * texture_width; - color_pixel[1] = j * texture_height; - int pixx = static_cast(color_pixel[0]); - int pixy = static_cast(color_pixel[1]); - int offset = (pixy * texture_width + pixx) * num_colors; - reverse_memcpy(&(*iter_color), color_data+offset, num_colors); // PointCloud2 order of rgb is bgr. - } + *iter_x = vertex->x; + *iter_y = vertex->y; + *iter_z = vertex->z; - ++iter_x; ++iter_y; ++iter_z; - ++iter_color; + if (valid_color_pixel) + { + color_pixel[0] = i * texture_width; + color_pixel[1] = j * texture_height; + int pixx = static_cast(color_pixel[0]); + int pixy = static_cast(color_pixel[1]); + int offset = (pixy * texture_width + pixx) * num_colors; + reverse_memcpy(&(*iter_color), color_data+offset, num_colors); // PointCloud2 order of rgb is bgr. + } + ++iter_x; ++iter_y; ++iter_z; + ++iter_color; + ++valid_count; + } } } else @@ -2245,20 +2230,36 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co sensor_msgs::PointCloud2Iteratoriter_x(_msg_pointcloud, "x"); sensor_msgs::PointCloud2Iteratoriter_y(_msg_pointcloud, "y"); sensor_msgs::PointCloud2Iteratoriter_z(_msg_pointcloud, "z"); - unsigned int prev_idx(0); - for (auto idx=_valid_pc_indices.begin(); idx != _valid_pc_indices.end(); idx++) - { - unsigned int idx_jump(*idx-prev_idx); - prev_idx = *idx; - vertex+=idx_jump; - *iter_x = vertex->x; - *iter_y = vertex->y; - *iter_z = vertex->z; - - ++iter_x; ++iter_y; ++iter_z; + for (size_t point_idx=0; point_idx < pc.size(); point_idx++, vertex++) + { + bool valid_pixel(vertex->z > 0); + if (valid_pixel || _ordered_pc) + { + *iter_x = vertex->x; + *iter_y = vertex->y; + *iter_z = vertex->z; + + ++iter_x; ++iter_y; ++iter_z; + ++valid_count; + } } } + _msg_pointcloud.header.stamp = t; + _msg_pointcloud.header.frame_id = _optical_frame_id[DEPTH]; + if (_ordered_pc) + { + _msg_pointcloud.width = depth_intrin.width; + _msg_pointcloud.height = depth_intrin.height; + _msg_pointcloud.is_dense = false; + } + else + { + _msg_pointcloud.width = valid_count; + _msg_pointcloud.height = 1; + _msg_pointcloud.is_dense = true; + modifier.resize(valid_count); + } _pointcloud_publisher.publish(_msg_pointcloud); } From a7eb0010f1694a0bcb049d3a372bea45a59eedf7 Mon Sep 17 00:00:00 2001 From: Itamar Eliakim Date: Sat, 16 Jan 2021 23:54:49 +0200 Subject: [PATCH 10/94] add missing dependency std_srvs --- realsense2_camera/CMakeLists.txt | 1 + realsense2_camera/package.xml | 1 + 2 files changed, 2 insertions(+) diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index 0a6e1ec58..4698150ef 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -14,6 +14,7 @@ find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs std_msgs + std_srvs nodelet cv_bridge image_transport diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index d973577dd..c1b94b73f 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -22,6 +22,7 @@ roscpp sensor_msgs std_msgs + std_srvs message_runtime tf ddynamic_reconfigure From b6e06015838ff61d4f079bd8eafd27a7f71e3dc9 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 14 Jan 2021 13:47:08 +0200 Subject: [PATCH 11/94] warn user if time stamp is hardware time stamp. --- realsense2_camera/include/base_realsense_node.h | 2 +- realsense2_camera/src/base_realsense_node.cpp | 14 ++++++++------ 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index 3836ff1d7..834cde427 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -198,7 +198,7 @@ namespace realsense2_camera void enable_devices(); void setupFilters(); void setupStreams(); - void setBaseTime(double frame_time, bool warn_no_metadata); + void setBaseTime(double frame_time, rs2_timestamp_domain time_domain); cv::Mat& fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image); void clip_depth(rs2::depth_frame depth_frame, float clipping_dist); void updateStreamCalibData(const rs2::video_stream_profile& video_profile); diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 54533f42d..c86a9b56e 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1353,7 +1353,7 @@ void BaseRealSenseNode::imu_callback_sync(rs2::frame frame, imu_sync_method sync bool placeholder_false(false); if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) { - setBaseTime(frame_time, RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME == frame.get_frame_timestamp_domain()); + setBaseTime(frame_time, frame.get_frame_timestamp_domain()); } seq += 1; @@ -1397,7 +1397,7 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame) bool placeholder_false(false); if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) { - setBaseTime(frame_time, RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME == frame.get_frame_timestamp_domain()); + setBaseTime(frame_time, frame.get_frame_timestamp_domain()); } ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s", @@ -1442,7 +1442,7 @@ void BaseRealSenseNode::pose_callback(rs2::frame frame) bool placeholder_false(false); if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) { - setBaseTime(frame_time, RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME == frame.get_frame_timestamp_domain()); + setBaseTime(frame_time, frame.get_frame_timestamp_domain()); } ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s", @@ -1542,7 +1542,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) bool placeholder_false(false); if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) { - setBaseTime(frame_time, RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME == frame.get_frame_timestamp_domain()); + setBaseTime(frame_time, frame.get_frame_timestamp_domain()); } ros::Time t; @@ -1723,9 +1723,11 @@ void BaseRealSenseNode::multiple_message_callback(rs2::frame frame, imu_sync_met } } -void BaseRealSenseNode::setBaseTime(double frame_time, bool warn_no_metadata) +void BaseRealSenseNode::setBaseTime(double frame_time, rs2_timestamp_domain time_domain) { - ROS_WARN_COND(warn_no_metadata, "Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)"); + + ROS_WARN_COND(time_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME, "Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)"); + ROS_WARN_COND(time_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, "frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically."); _ros_time_base = ros::Time::now(); _camera_time_base = frame_time; From 66c41ebdea47f3dbb379c30f610d4691552c4a4a Mon Sep 17 00:00:00 2001 From: Luke Pitt Date: Thu, 21 Jan 2021 17:20:27 +0000 Subject: [PATCH 12/94] Add include guard to materials Prevents material already defined errors when adding multiple types of camera to a robot --- .../urdf/_materials.urdf.xacro | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/realsense2_description/urdf/_materials.urdf.xacro b/realsense2_description/urdf/_materials.urdf.xacro index 6b365d394..96239ad12 100644 --- a/realsense2_description/urdf/_materials.urdf.xacro +++ b/realsense2_description/urdf/_materials.urdf.xacro @@ -8,11 +8,15 @@ Collection of materials to be used in other macros. This avoids the redefinition of materials in case multple cameras are imported. --> - - - - - - - + + + + + + + + + + + From f529040873825248e3917586d4636a725cf2992e Mon Sep 17 00:00:00 2001 From: Marc Alban Date: Wed, 27 Jan 2021 10:31:53 -0600 Subject: [PATCH 13/94] Remove unnecessary initialized variable and fix issue with re-advertising service. --- .../include/realsense_node_factory.h | 3 +- .../src/realsense_node_factory.cpp | 40 +++++++------------ 2 files changed, 16 insertions(+), 27 deletions(-) diff --git a/realsense2_camera/include/realsense_node_factory.h b/realsense2_camera/include/realsense_node_factory.h index 93062fc24..921b43037 100644 --- a/realsense2_camera/include/realsense_node_factory.h +++ b/realsense2_camera/include/realsense_node_factory.h @@ -68,7 +68,7 @@ namespace realsense2_camera virtual void onInit() override; void initialize(const ros::WallTimerEvent &ignored); void tryGetLogSeverity(rs2_log_severity& severity) const; - bool reset(); + void reset(); bool handleReset(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); static std::string parse_usb_port(std::string line); bool toggle_sensor_callback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res); @@ -83,7 +83,6 @@ namespace realsense2_camera std::thread _query_thread; bool _is_alive; ros::ServiceServer toggle_sensor_srv; - bool _initialized; ros::WallTimer _init_timer; ros::ServiceServer _reset_srv; diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index 46247ee1c..90f0870dc 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -30,8 +30,7 @@ std::string api_version_to_string(int version) } RealSenseNodeFactory::RealSenseNodeFactory(): - _is_alive(true), - _initialized(false) + _is_alive(true) { rs2_error* e = nullptr; std::string running_librealsense_version(api_version_to_string(rs2_get_api_version(&e))); @@ -56,7 +55,6 @@ RealSenseNodeFactory::RealSenseNodeFactory(): RealSenseNodeFactory::~RealSenseNodeFactory() { - _initialized = false; _is_alive = false; if (_query_thread.joinable()) { @@ -225,7 +223,6 @@ void RealSenseNodeFactory::getDevice(rs2::device_list list) ROS_INFO("Resetting device..."); _device.hardware_reset(); _device = rs2::device(); - } catch(const std::exception& ex) { @@ -236,13 +233,10 @@ void RealSenseNodeFactory::getDevice(rs2::device_list list) void RealSenseNodeFactory::change_device_callback(rs2::event_information& info) { - if (_initialized) + if (info.was_removed(_device)) { - if (info.was_removed(_device)) - { - ROS_ERROR("The device has been disconnected!"); - reset(); - } + ROS_ERROR("The device has been disconnected!"); + reset(); } } @@ -276,9 +270,13 @@ void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored) ros::NodeHandle nh = getNodeHandle(); auto privateNh = getPrivateNodeHandle(); privateNh.param("serial_no", _serial_no, std::string("")); - privateNh.param("usb_port_id", _usb_port_id, std::string("")); - privateNh.param("device_type", _device_type, std::string("")); - toggle_sensor_srv = nh.advertiseService("enable", &RealSenseNodeFactory::toggle_sensor_callback, this); + privateNh.param("usb_port_id", _usb_port_id, std::string("")); + privateNh.param("device_type", _device_type, std::string("")); + + if (!toggle_sensor_srv) + { + toggle_sensor_srv = nh.advertiseService("enable", &RealSenseNodeFactory::toggle_sensor_callback, this); + } std::string rosbag_filename(""); privateNh.param("rosbag_filename", rosbag_filename, std::string("")); @@ -383,7 +381,6 @@ void RealSenseNodeFactory::StartDevice() } assert(_realSenseNode); _realSenseNode->publishTopics(); - _initialized = true; } catch (const rs2::error& e) { @@ -391,15 +388,8 @@ void RealSenseNodeFactory::StartDevice() } } -bool RealSenseNodeFactory::reset() +void RealSenseNodeFactory::reset() { - if (!_initialized) - { - return false; - } - - _initialized = false; - _is_alive = false; if (_query_thread.joinable()) { @@ -408,7 +398,7 @@ bool RealSenseNodeFactory::reset() try { - _realSenseNode.reset(); + _realSenseNode.reset(); if (_device) { _device.hardware_reset(); @@ -421,12 +411,12 @@ bool RealSenseNodeFactory::reset() } _init_timer = getNodeHandle().createWallTimer(ros::WallDuration(1.0), &RealSenseNodeFactory::initialize, this, true); - return true; } bool RealSenseNodeFactory::handleReset(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) { - return reset(); + reset(); + return true; } void RealSenseNodeFactory::tryGetLogSeverity(rs2_log_severity& severity) const From f2054ea55fadacebd98e1aea8cc5684ff872918f Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 7 Feb 2021 12:29:34 +0200 Subject: [PATCH 14/94] based on #1668, set _msg_pointcloud.width before resize. --- realsense2_camera/src/base_realsense_node.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 11a0a5afd..e12ea5953 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -2160,6 +2160,12 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co sensor_msgs::PointCloud2Modifier modifier(_msg_pointcloud); modifier.setPointCloud2FieldsByString(1, "xyz"); modifier.resize(pc.size()); + if (_ordered_pc) + { + _msg_pointcloud.width = depth_intrin.width; + _msg_pointcloud.height = depth_intrin.height; + _msg_pointcloud.is_dense = false; + } vertex = pc.get_vertices(); size_t valid_count(0); @@ -2247,13 +2253,7 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co } _msg_pointcloud.header.stamp = t; _msg_pointcloud.header.frame_id = _optical_frame_id[DEPTH]; - if (_ordered_pc) - { - _msg_pointcloud.width = depth_intrin.width; - _msg_pointcloud.height = depth_intrin.height; - _msg_pointcloud.is_dense = false; - } - else + if (!_ordered_pc) { _msg_pointcloud.width = valid_count; _msg_pointcloud.height = 1; From 36ebae0c24a63c5acbc366fb926f6a17dd5bcf23 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 11 Feb 2021 09:59:08 +0200 Subject: [PATCH 15/94] Add offset to ros_time only if device uses hardware-clock. Otherwise use device time - either system_time or global_time. --- .../include/base_realsense_node.h | 3 +- realsense2_camera/src/base_realsense_node.cpp | 58 ++++++++++--------- 2 files changed, 32 insertions(+), 29 deletions(-) diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index b3d61228f..fa89873fa 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -198,7 +198,8 @@ namespace realsense2_camera void enable_devices(); void setupFilters(); void setupStreams(); - void setBaseTime(double frame_time, rs2_timestamp_domain time_domain); + bool setBaseTime(double frame_time, rs2_timestamp_domain time_domain); + double frameSystemTimeSec(rs2::frame frame); cv::Mat& fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image); void clip_depth(rs2::depth_frame depth_frame, float clipping_dist); void updateStreamCalibData(const rs2::video_stream_profile& video_profile); diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 311d5369d..ae1d5c7e4 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1354,17 +1354,16 @@ void BaseRealSenseNode::imu_callback_sync(rs2::frame frame, imu_sync_method sync bool placeholder_false(false); if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) { - setBaseTime(frame_time, frame.get_frame_timestamp_domain()); + _is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain()); } seq += 1; - double elapsed_camera_ms = (/*ms*/ frame_time - /*ms*/ _camera_time_base) / 1000.0; if (0 != _synced_imu_publisher->getNumSubscribers()) { auto crnt_reading = *(reinterpret_cast(frame.get_data())); Eigen::Vector3d v(crnt_reading.x, crnt_reading.y, crnt_reading.z); - CimuData imu_data(stream_index, v, elapsed_camera_ms); + CimuData imu_data(stream_index, v, frameSystemTimeSec(frame)); std::deque imu_msgs; switch (sync_method) { @@ -1379,9 +1378,7 @@ void BaseRealSenseNode::imu_callback_sync(rs2::frame frame, imu_sync_method sync while (imu_msgs.size()) { sensor_msgs::Imu imu_msg = imu_msgs.front(); - ros::Time t(_ros_time_base.toSec() + imu_msg.header.stamp.toSec()); imu_msg.header.seq = seq; - imu_msg.header.stamp = t; ImuMessage_AddDefaultValues(imu_msg); _synced_imu_publisher->Publish(imu_msg); ROS_DEBUG("Publish united %s stream", rs2_stream_to_string(frame.get_profile().stream_type())); @@ -1398,7 +1395,7 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame) bool placeholder_false(false); if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) { - setBaseTime(frame_time, frame.get_frame_timestamp_domain()); + _is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain()); } ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s", @@ -1409,8 +1406,7 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame) auto stream_index = (stream == GYRO.first)?GYRO:ACCEL; if (0 != _imu_publishers[stream_index].getNumSubscribers()) { - double elapsed_camera_ms = (/*ms*/ frame_time - /*ms*/ _camera_time_base) / 1000.0; - ros::Time t(_ros_time_base.toSec() + elapsed_camera_ms); + ros::Time t(frameSystemTimeSec(frame)); auto imu_msg = sensor_msgs::Imu(); ImuMessage_AddDefaultValues(imu_msg); @@ -1443,7 +1439,7 @@ void BaseRealSenseNode::pose_callback(rs2::frame frame) bool placeholder_false(false); if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) { - setBaseTime(frame_time, frame.get_frame_timestamp_domain()); + _is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain()); } ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s", @@ -1452,8 +1448,7 @@ void BaseRealSenseNode::pose_callback(rs2::frame frame) rs2_timestamp_domain_to_string(frame.get_frame_timestamp_domain())); const auto& stream_index(POSE); rs2_pose pose = frame.as().get_pose_data(); - double elapsed_camera_ms = (/*ms*/ frame_time - /*ms*/ _camera_time_base) / 1000.0; - ros::Time t(_ros_time_base.toSec() + elapsed_camera_ms); + ros::Time t(frameSystemTimeSec(frame)); geometry_msgs::PoseStamped pose_msg; pose_msg.pose.position.x = -pose.translation.z; @@ -1543,19 +1538,10 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) bool placeholder_false(false); if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) { - setBaseTime(frame_time, frame.get_frame_timestamp_domain()); - } - - ros::Time t; - if (_sync_frames) - { - t = ros::Time::now(); - } - else - { - t = ros::Time(_ros_time_base.toSec()+ (/*ms*/ frame_time - /*ms*/ _camera_time_base) / /*ms to seconds*/ 1000); + _is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain()); } + ros::Time t(frameSystemTimeSec(frame)); if (frame.is()) { ROS_DEBUG("Frameset arrived."); @@ -1724,14 +1710,30 @@ void BaseRealSenseNode::multiple_message_callback(rs2::frame frame, imu_sync_met } } -void BaseRealSenseNode::setBaseTime(double frame_time, rs2_timestamp_domain time_domain) +bool BaseRealSenseNode::setBaseTime(double frame_time, rs2_timestamp_domain time_domain) { - - ROS_WARN_COND(time_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME, "Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)"); - ROS_WARN_COND(time_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, "frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically."); + ROS_WARN_ONCE(time_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME ? "Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)" : ""); + if (time_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK) + { + ROS_WARN("frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically."); + _ros_time_base = ros::Time::now(); + _camera_time_base = frame_time; + return true; + } + return false; +} - _ros_time_base = ros::Time::now(); - _camera_time_base = frame_time; +double BaseRealSenseNode::frameSystemTimeSec(rs2::frame frame) +{ + if (frame.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK) + { + double elapsed_camera_ms = (/*ms*/ frame.get_timestamp() - /*ms*/ _camera_time_base) / 1000.0; + return (_ros_time_base.toSec() + elapsed_camera_ms); + } + else + { + return (frame.get_timestamp() / 1000.0); + } } void BaseRealSenseNode::setupStreams() From fdf196cb55d3416a859baf9896ea73c01cc0b36d Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 14 Feb 2021 07:16:53 +0200 Subject: [PATCH 16/94] Should not align confidence image to depth as they are already aligned. --- realsense2_camera/src/base_realsense_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 311d5369d..c6ff55528 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -953,7 +953,7 @@ void BaseRealSenseNode::publishAlignedDepthToOthers(rs2::frameset frames, const auto frame = (*it); auto stream_type = frame.get_profile().stream_type(); - if (RS2_STREAM_DEPTH == stream_type) + if (RS2_STREAM_DEPTH == stream_type || RS2_STREAM_CONFIDENCE == stream_type) continue; auto stream_index = frame.get_profile().stream_index(); From c8953c582647f124c7e89b062e5e187e0da5b375 Mon Sep 17 00:00:00 2001 From: Marc Alban Date: Wed, 17 Feb 2021 07:56:16 -0600 Subject: [PATCH 17/94] Remove unnecessary hardware reset in destructor. --- realsense2_camera/src/realsense_node_factory.cpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index 90f0870dc..2718ba62c 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -64,11 +64,7 @@ RealSenseNodeFactory::~RealSenseNodeFactory() try { _realSenseNode.reset(); - if (_device) - { - _device.hardware_reset(); - _device = rs2::device(); - } + _device = rs2::device(); } catch (const rs2::error& e) { From 31cf43a89647ee3009b2288ca6905e430d4c56ca Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 18 Feb 2021 09:01:50 +0200 Subject: [PATCH 18/94] clean ~RealSenseNodeFactory() --- realsense2_camera/src/realsense_node_factory.cpp | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index 2718ba62c..973c81074 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -60,16 +60,6 @@ RealSenseNodeFactory::~RealSenseNodeFactory() { _query_thread.join(); } - - try - { - _realSenseNode.reset(); - _device = rs2::device(); - } - catch (const rs2::error& e) - { - ROS_ERROR_STREAM("Exception: " << e.what()); - } } std::string RealSenseNodeFactory::parse_usb_port(std::string line) From 27c39868aeb0acd94e459c09b65031fa1dde13f9 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 18 Feb 2021 08:50:59 +0200 Subject: [PATCH 19/94] add ordered_pc and default profile selection to README.md --- README.md | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 73a5fe8f6..489c2c918 100644 --- a/README.md +++ b/README.md @@ -176,8 +176,10 @@ The following parameters are available by the wrapper: The topics are of the form: ```/camera/aligned_depth_to_color/image_raw``` etc. - **filters**: any of the following options, separated by commas:
- ```colorizer```: will color the depth image. On the depth topic an RGB image will be published, instead of the 16bit depth values . - - ```pointcloud```: will add a pointcloud topic `/camera/depth/color/points`. The texture of the pointcloud can be modified in rqt_reconfigure (see below) or using the parameters: `pointcloud_texture_stream` and `pointcloud_texture_index`. Run rqt_reconfigure to see available values for these parameters.
- The depth FOV and the texture FOV are not similar. By default, pointcloud is limited to the section of depth containing the texture. You can have a full depth to pointcloud, coloring the regions beyond the texture with zeros, by setting `allow_no_texture_points` to true. + - ```pointcloud```: will add a pointcloud topic `/camera/depth/color/points`. + * The texture of the pointcloud can be modified in rqt_reconfigure (see below) or using the parameters: `pointcloud_texture_stream` and `pointcloud_texture_index`. Run rqt_reconfigure to see available values for these parameters.
+ * The depth FOV and the texture FOV are not similar. By default, pointcloud is limited to the section of depth containing the texture. You can have a full depth to pointcloud, coloring the regions beyond the texture with zeros, by setting `allow_no_texture_points` to true. + * pointcloud is of an unordered format by default. This can be changed by setting `ordered_pc` to true. - The following filters have detailed descriptions in : https://github.com/IntelRealSense/librealsense/blob/master/doc/post-processing-filters.md - ```disparity``` - convert depth to disparity before applying other filters and back. @@ -186,7 +188,7 @@ The topics are of the form: ```/camera/aligned_depth_to_color/image_raw``` etc. - ```hole_filling``` - apply hole-filling filter. - ```decimation``` - reduces depth scene complexity. - **enable_sync**: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. -- ****_width**, ****_height**, ****_fps**: can be any of *infra, color, fisheye, depth, gyro, accel, pose*. Sets the required format of the device. If the specified combination of parameters is not available by the device, the stream will not be published. Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined). Note: for gyro accel and pose, only _fps option is meaningful. +- ****_width**, ****_height**, ****_fps**: can be any of *infra, color, fisheye, depth, gyro, accel, pose*. Sets the required format of the device. If the specified combination of parameters is not available by the device, the stream will be replaced with the default for that stream. Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
*Note: for gyro accel and pose, only _fps option is meaningful. - **enable_****: Choose whether to enable a specified stream or not. Default is true. can be any of *infra1, infra2, color, depth, fisheye, fisheye1, fisheye2, gyro, accel, pose*. - **tf_prefix**: By default all frame's ids have the same prefix - `camera_`. This allows changing it per camera. - **base_frame_id**: defines the frame_id all static transformations refers to. From b9aab82f9eed2e057e1ebae40ac9bcbb972d31b7 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 18 Feb 2021 11:03:11 +0200 Subject: [PATCH 20/94] bump version 2.2.22 --- README.md | 7 +++++-- realsense2_camera/CHANGELOG.rst | 11 +++++++++++ realsense2_camera/CMakeLists.txt | 2 +- realsense2_camera/include/constants.h | 2 +- realsense2_description/CHANGELOG.rst | 6 ++++++ 5 files changed, 24 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 489c2c918..efc22ef4f 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,7 @@ For running in ROS2-Eloquent environment please switch to the [eloquent branch]( For running in ROS2-Foxy environment please switch to the [foxy branch](https://github.com/IntelRealSense/realsense-ros/tree/foxy). -LibRealSense supported version: v2.41.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) +LibRealSense supported version: v2.42.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) ## Installation Instructions @@ -73,7 +73,7 @@ LibRealSense supported version: v2.41.0 (see [realsense2_camera release notes](h `vcpkg install realsense2:x64-windows` #### OR - - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.41.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) + - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.42.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) ### Step 2: Install Intel® RealSense™ ROS from Sources @@ -164,6 +164,9 @@ After running the above command with D435i attached, the following list of topic The "/camera" prefix is the default and can be changed. Check the rs_multiple_devices.launch file for an example. If using D435 or D415, the gyro and accel topics wont be available. Likewise, other topics will be available when using T265 (see below). +### Available services: +- reset : Cause a hardware reset of the device. Usage: `rosservice call /camera/realsense2_camera/reset` + ### Launch parameters The following parameters are available by the wrapper: - **serial_no**: will attach to the device with the given serial number (*serial_no*) number. Default, attach to available RealSense device in random. diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index 4e68cf344..97d626fb7 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,6 +2,17 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add reset service. +* fix timestamp domain issues + - Add offset to ros_time only if device uses hardware-clock. Otherwise use device time - either system_time or global_time. + - Warn of a hardware timestamp possible loop. +* Choose the default profile in case of an invalid request. +* Avoid aligning confidence image. +* Add an option for an Ordered PointCloud. +* Contributors: Isaac I.Y. Saito, Itamar Eliakim, Marc Alban, doronhi + 2.2.21 (2020-12-31) ------------------- * Publish depth confidence image for supporting devices (L515) diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index 4698150ef..7865d8aaf 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -41,7 +41,7 @@ endif() if (WIN32) find_package(realsense2 CONFIG REQUIRED) else() -find_package(realsense2 2.41.0) +find_package(realsense2 2.42.0) endif() if(NOT realsense2_FOUND) diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index d8449977d..6f251ba5f 100644 --- a/realsense2_camera/include/constants.h +++ b/realsense2_camera/include/constants.h @@ -7,7 +7,7 @@ #define REALSENSE_ROS_MAJOR_VERSION 2 #define REALSENSE_ROS_MINOR_VERSION 2 -#define REALSENSE_ROS_PATCH_VERSION 21 +#define REALSENSE_ROS_PATCH_VERSION 22 #define STRINGIFY(arg) #arg #define VAR_ARG_STRING(arg) STRINGIFY(arg) diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index 105e129a1..b1edd04f0 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix mass of d415 +* Consistent add_plug in xacros and launch files +* Contributors: Manuel Stahl, Tim Ãœbelhör, doronhi + 2.2.21 (2020-12-31) ------------------- From aaf6df20ea1c4727baea7eec031f8fec2367d1c8 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 18 Feb 2021 11:04:12 +0200 Subject: [PATCH 21/94] 2.2.22 --- realsense2_camera/CHANGELOG.rst | 4 ++-- realsense2_camera/package.xml | 2 +- realsense2_description/CHANGELOG.rst | 4 ++-- realsense2_description/package.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index 97d626fb7..5fbc1f62c 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.2.22 (2021-02-18) +------------------- * Add reset service. * fix timestamp domain issues - Add offset to ros_time only if device uses hardware-clock. Otherwise use device time - either system_time or global_time. diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index c1b94b73f..6e95ae56d 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -1,7 +1,7 @@ realsense2_camera - 2.2.21 + 2.2.22 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras Sergey Dorodnicov Doron Hirshberg diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index b1edd04f0..9ab8d3701 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.2.22 (2021-02-18) +------------------- * Fix mass of d415 * Consistent add_plug in xacros and launch files * Contributors: Manuel Stahl, Tim Ãœbelhör, doronhi diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml index 75f6a958f..faf891060 100644 --- a/realsense2_description/package.xml +++ b/realsense2_description/package.xml @@ -1,7 +1,7 @@ realsense2_description - 2.2.21 + 2.2.22 RealSense Camera description package for Intel 3D D400 cameras Sergey Dorodnicov Doron Hirshberg From a38bdf205b037fe12cc7b749c911d044a353609e Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 18 Feb 2021 15:00:17 +0200 Subject: [PATCH 22/94] fix initialization of colorizer image if user specified negative image size (as is in default launch file) --- README.md | 3 ++- realsense2_camera/src/base_realsense_node.cpp | 10 +++++----- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index efc22ef4f..59f3638b4 100644 --- a/README.md +++ b/README.md @@ -192,8 +192,9 @@ The topics are of the form: ```/camera/aligned_depth_to_color/image_raw``` etc. - ```decimation``` - reduces depth scene complexity. - **enable_sync**: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. - ****_width**, ****_height**, ****_fps**: can be any of *infra, color, fisheye, depth, gyro, accel, pose*. Sets the required format of the device. If the specified combination of parameters is not available by the device, the stream will be replaced with the default for that stream. Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
*Note: for gyro accel and pose, only _fps option is meaningful. -- **enable_****: Choose whether to enable a specified stream or not. Default is true. can be any of *infra1, infra2, color, depth, fisheye, fisheye1, fisheye2, gyro, accel, pose*. +- **enable_****: Choose whether to enable a specified stream or not. Default is true for images and false for orientation streams. can be any of *infra1, infra2, color, depth, fisheye, fisheye1, fisheye2, gyro, accel, pose*. - **tf_prefix**: By default all frame's ids have the same prefix - `camera_`. This allows changing it per camera. +- ****_frame_id**, ****_optical_frame_id**, **aligned_depth_to_**_frame_id**: Specify the different frame_id for the different frames. Especially important when using multiple cameras. - **base_frame_id**: defines the frame_id all static transformations refers to. - **odom_frame_id**: defines the origin coordinate system in ROS convention (X-Forward, Y-Left, Z-Up). pose topic defines the pose relative to that system. - **All the rest of the frame_ids can be found in the template launch file: [nodelet.launch.xml](./realsense2_camera/launch/includes/nodelet.launch.xml)** diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index b41d74ae0..c7f76e761 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -646,17 +646,17 @@ void BaseRealSenseNode::getParameters() for (auto& stream : IMAGE_STREAMS) { std::string param_name(_stream_name[stream.first] + "_width"); - ROS_DEBUG_STREAM("reading parameter:" << param_name); _pnh.param(param_name, _width[stream], IMAGE_WIDTH); + ROS_DEBUG_STREAM("parameter:" << param_name << " = " << _width[stream]); param_name = _stream_name[stream.first] + "_height"; - ROS_DEBUG_STREAM("reading parameter:" << param_name); _pnh.param(param_name, _height[stream], IMAGE_HEIGHT); + ROS_DEBUG_STREAM("parameter:" << param_name << " = " << _height[stream]); param_name = _stream_name[stream.first] + "_fps"; - ROS_DEBUG_STREAM("reading parameter:" << param_name); _pnh.param(param_name, _fps[stream], IMAGE_FPS); + ROS_DEBUG_STREAM("parameter:" << param_name << " = " << _fps[stream]); param_name = "enable_" + STREAM_NAME(stream); - ROS_DEBUG_STREAM("reading parameter:" << param_name); _pnh.param(param_name, _enable[stream], true); + ROS_DEBUG_STREAM("parameter:" << param_name << " = " << _enable[stream]); } for (auto& stream : HID_STREAMS) @@ -1201,7 +1201,7 @@ void BaseRealSenseNode::setupFilters() _width[DEPTH] = _width[COLOR]; _height[DEPTH] = _height[COLOR]; - _image[DEPTH] = cv::Mat(_height[DEPTH], _width[DEPTH], _image_format[DEPTH.first], cv::Scalar(0, 0, 0)); + _image[DEPTH] = cv::Mat(std::max(0, _height[DEPTH]), std::max(0, _width[DEPTH]), _image_format[DEPTH.first], cv::Scalar(0, 0, 0)); } if (_pointcloud) { From ffe5b3197fc2108b41cd82946c779fff8cf384a9 Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 28 Feb 2021 08:56:42 +0200 Subject: [PATCH 23/94] fix bug: selection of profile disregarded stream index. Import of #1728 to ROS1 --- realsense2_camera/src/base_realsense_node.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index c7f76e761..efd51a4d1 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1019,7 +1019,7 @@ void BaseRealSenseNode::enable_devices() ", Height: " << video_profile.height() << ", FPS: " << video_profile.fps()); - if (profile.stream_type() == elem.first) + if (profile.stream_type() == elem.first && profile.stream_index() == elem.second) { if (profile.is_default()) { @@ -1028,8 +1028,7 @@ void BaseRealSenseNode::enable_devices() if ((_width[elem] == 0 || video_profile.width() == _width[elem]) && (_height[elem] == 0 || video_profile.height() == _height[elem]) && (_fps[elem] == 0 || video_profile.fps() == _fps[elem]) && - (_format.find(elem.first) == _format.end() || video_profile.format() == _format[elem.first] ) && - video_profile.stream_index() == elem.second) + (_format.find(elem.first) == _format.end() || video_profile.format() == _format[elem.first] )) { selected_profile = profile; break; From dc990a55584cc2deeae740feb276bb4d0803f247 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 18 Mar 2021 08:32:07 +0200 Subject: [PATCH 24/94] add default values to infra stream in rs_camera.launch as non are defined in librealsense2. --- realsense2_camera/launch/rs_camera.launch | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch index 3a1da045c..0deb998de 100644 --- a/realsense2_camera/launch/rs_camera.launch +++ b/realsense2_camera/launch/rs_camera.launch @@ -22,8 +22,8 @@ - - + + @@ -35,7 +35,7 @@ - + From 0c1d639c75d5eb5716aab3ee8e23d31da3d89383 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 18 Mar 2021 16:19:50 +0200 Subject: [PATCH 25/94] Add hdr_merge and sequence_id_filter --- README.md | 3 + .../include/base_realsense_node.h | 8 +- .../launch/includes/nodelet.launch.xml | 11 ++ realsense2_camera/launch/rs_camera.launch | 11 ++ realsense2_camera/src/base_realsense_node.cpp | 157 +++++++++++++++--- 5 files changed, 169 insertions(+), 21 deletions(-) diff --git a/README.md b/README.md index 59f3638b4..b678b1c53 100644 --- a/README.md +++ b/README.md @@ -183,6 +183,9 @@ The topics are of the form: ```/camera/aligned_depth_to_color/image_raw``` etc. * The texture of the pointcloud can be modified in rqt_reconfigure (see below) or using the parameters: `pointcloud_texture_stream` and `pointcloud_texture_index`. Run rqt_reconfigure to see available values for these parameters.
* The depth FOV and the texture FOV are not similar. By default, pointcloud is limited to the section of depth containing the texture. You can have a full depth to pointcloud, coloring the regions beyond the texture with zeros, by setting `allow_no_texture_points` to true. * pointcloud is of an unordered format by default. This can be changed by setting `ordered_pc` to true. +- ```hdr_merge```: Allows depth image to be created by merging the information from 2 consecutive frames, taken with different exposure and gain values. The way to set exposure and gain values for each sequence in runtime is by first selecting the sequence id, using rqt_reconfigure `stereo_module/sequence_id` parameter and then modifying the `stereo_module/gain`, and `stereo_module/exposure`.
To view the effect on the infrared image for each sequence id use the `sequence_id_filter/sequence_id` parameter.
To initialize these parameters in start time use the following parameters:
+ `stereo_module/exposure/1`, `stereo_module/gain/1`, `stereo_module/exposure/2`, `stereo_module/gain/2`
+ \* For in-depth review of the subject please read the accompanying [white paper](https://dev.intelrealsense.com/docs/high-dynamic-range-with-stereoscopic-depth-cameras). - The following filters have detailed descriptions in : https://github.com/IntelRealSense/librealsense/blob/master/doc/post-processing-filters.md - ```disparity``` - convert depth to disparity before applying other filters and back. diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index fa89873fa..fbd4f009c 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -237,6 +237,9 @@ namespace realsense2_camera void multiple_message_callback(rs2::frame frame, imu_sync_method sync_method); void frame_callback(rs2::frame frame); void registerDynamicOption(ros::NodeHandle& nh, rs2::options sensor, std::string& module_name); + void registerHDRoptions(); + void set_sensor_parameter_to_ros(const std::string& module_name, rs2::options sensor, rs2_option option); + void monitor_update_functions(); void readAndSetDynamicParam(ros::NodeHandle& nh1, std::shared_ptr ddynrec, const std::string option_name, const int min_val, const int max_val, rs2::sensor sensor, int* option_value); void registerAutoExposureROIOptions(ros::NodeHandle& nh); void set_auto_exposure_roi(const std::string option_name, rs2::sensor sensor, int new_value); @@ -275,7 +278,7 @@ namespace realsense2_camera tf2_ros::StaticTransformBroadcaster _static_tf_broadcaster; tf2_ros::TransformBroadcaster _dynamic_tf_broadcaster; std::vector _static_tf_msgs; - std::shared_ptr _tf_t; + std::shared_ptr _tf_t, _update_functions_t; std::map _image_publishers; std::map _imu_publishers; @@ -321,7 +324,8 @@ namespace realsense2_camera typedef std::pair> OptionTemperatureDiag; std::vector< OptionTemperatureDiag > _temperature_nodes; std::shared_ptr _monitoring_t; - mutable std::condition_variable _cv; + std::vector > _update_functions_v; + mutable std::condition_variable _cv_monitoring, _cv_tf, _update_functions_cv; stream_index_pair _base_stream; const std::string _namespace; diff --git a/realsense2_camera/launch/includes/nodelet.launch.xml b/realsense2_camera/launch/includes/nodelet.launch.xml index 4d12b0a3e..6eecb48fe 100644 --- a/realsense2_camera/launch/includes/nodelet.launch.xml +++ b/realsense2_camera/launch/includes/nodelet.launch.xml @@ -93,6 +93,12 @@ + + + + + + @@ -192,6 +198,11 @@ + + + + + diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch index 0deb998de..52e02e826 100644 --- a/realsense2_camera/launch/rs_camera.launch +++ b/realsense2_camera/launch/rs_camera.launch @@ -62,6 +62,12 @@ + + + + + + @@ -125,6 +131,11 @@ + + + + + diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index efd51a4d1..4d0b875c1 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -5,6 +5,10 @@ #include #include +#include +#include +#include + using namespace realsense2_camera; using namespace ddynamic_reconfigure; @@ -137,11 +141,14 @@ BaseRealSenseNode::BaseRealSenseNode(ros::NodeHandle& nodeHandle, BaseRealSenseNode::~BaseRealSenseNode() { // Kill dynamic transform thread - if (_tf_t) + _is_running = false; + _cv_tf.notify_one(); + if (_tf_t && _tf_t->joinable()) _tf_t->join(); + if (_update_functions_t && _update_functions_t->joinable()) + _update_functions_t->join(); - _is_running = false; - _cv.notify_one(); + _cv_monitoring.notify_one(); if (_monitoring_t && _monitoring_t->joinable()) { _monitoring_t->join(); @@ -239,6 +246,7 @@ void BaseRealSenseNode::publishTopics() getParameters(); setupDevice(); setupFilters(); + registerHDRoptions(); registerDynamicReconfigCb(_node_handle); setupErrorCallback(); enable_devices(); @@ -553,10 +561,28 @@ void BaseRealSenseNode::registerDynamicOption(ros::NodeHandle& nh, rs2::options << ". Removing this parameter from dynamic reconfigure options."); continue; } - ddynrec->registerEnumVariable( - option_name, option_value, - [option, sensor](int new_value) { sensor.set_option(option, new_value); }, - sensor.get_option_description(option), enum_dict); + if (module_name == "stereo_module" && i == RS2_OPTION_SEQUENCE_ID) + { + ddynrec->registerEnumVariable( + option_name, option_value, + [this, option, sensor, module_name](int new_value) + { + sensor.set_option(option, new_value); + _update_functions_v.push_back([this, module_name, sensor]() + {set_sensor_parameter_to_ros(module_name, sensor, RS2_OPTION_EXPOSURE);}); + _update_functions_v.push_back([this, module_name, sensor]() + {set_sensor_parameter_to_ros(module_name, sensor, RS2_OPTION_GAIN);}); + _update_functions_cv.notify_one(); + }, + sensor.get_option_description(option), enum_dict); + } + else + { + ddynrec->registerEnumVariable( + option_name, option_value, + [option, sensor](int new_value) { sensor.set_option(option, new_value); }, + sensor.get_option_description(option), enum_dict); + } } } catch(const rs2::backend_error& e) @@ -594,6 +620,88 @@ void BaseRealSenseNode::registerDynamicReconfigCb(ros::NodeHandle& nh) ROS_INFO("Done Setting Dynamic reconfig parameters."); } +void BaseRealSenseNode::registerHDRoptions() +{ + if (std::find_if(std::begin(_filters), std::end(_filters), [](NamedFilter f){return f._name == "hdr_merge";}) == std::end(_filters)) + return; + + std::string module_name; + std::vector options{RS2_OPTION_EXPOSURE, RS2_OPTION_GAIN}; + for(rs2::sensor sensor : _dev_sensors) + { + if (!sensor.is()) continue; + std::string module_name = create_graph_resource_name(sensor.get_info(RS2_CAMERA_INFO_NAME)); + // Read initialization parameters and initialize hdr_merge filter: + unsigned int seq_size = sensor.get_option(RS2_OPTION_SEQUENCE_SIZE); + for (unsigned int seq_id = 1; seq_id <= seq_size; seq_id++ ) + { + sensor.set_option(RS2_OPTION_SEQUENCE_ID, seq_id); + for (rs2_option& option : options) + { + std::stringstream param_name_str; + param_name_str << module_name << "/" << create_graph_resource_name(rs2_option_to_string(option)) << "/" << seq_id; + std::string param_name(param_name_str.str()); + ROS_INFO_STREAM("Reading option: " << param_name); + int option_value = sensor.get_option(option); + + int user_set_option_value; + _pnh.param(param_name, user_set_option_value, option_value); + _pnh.deleteParam(param_name); + if (option_value != user_set_option_value) + { + ROS_INFO_STREAM("Set " << rs2_option_to_string(option) << " to " << user_set_option_value); + sensor.set_option(option, user_set_option_value); + } + } + } + sensor.set_option(RS2_OPTION_SEQUENCE_ID, 0); // Set back to default. + sensor.set_option(RS2_OPTION_HDR_ENABLED, true); + + monitor_update_functions(); // Start parameters update thread + + break; + } +} + +void BaseRealSenseNode::set_sensor_parameter_to_ros(const std::string& module_name, rs2::options sensor, rs2_option option) +{ + dynamic_reconfigure::ReconfigureRequest srv_req; + dynamic_reconfigure::ReconfigureResponse srv_resp; + dynamic_reconfigure::IntParameter int_param; + dynamic_reconfigure::Config conf; + + int_param.name = create_graph_resource_name(rs2_option_to_string(option)); //"sequence_id" + int_param.value = sensor.get_option(option); + conf.ints.push_back(int_param); + + srv_req.config = conf; + + std::string service_name = module_name + "/set_parameters"; + if (ros::service::call(service_name, srv_req, srv_resp)) { + ROS_INFO_STREAM( "call to set " << service_name << "/" << int_param.name << " to " << int_param.value << " succeeded"); + } else { + ROS_ERROR_STREAM( "call to set " << service_name << "/" << int_param.name << " to " << int_param.value << " failed"); + } +} + +void BaseRealSenseNode::monitor_update_functions() +{ + int time_interval(1000); + std::function func = [this, time_interval](){ + std::mutex mu; + std::unique_lock lock(mu); + while(_is_running) { + _update_functions_cv.wait_for(lock, std::chrono::milliseconds(time_interval), [&]{return !_is_running || !_update_functions_v.empty();}); + while (!_update_functions_v.empty()) + { + _update_functions_v.back()(); + _update_functions_v.pop_back(); + } + } + }; + _update_functions_t = std::make_shared(func); +} + rs2_stream BaseRealSenseNode::rs2_string_to_stream(std::string str) { if (str == "RS2_STREAM_ANY") @@ -1134,6 +1242,7 @@ void BaseRealSenseNode::setupFilters() bool use_disparity_filter(false); bool use_colorizer_filter(false); bool use_decimation_filter(false); + bool use_hdr_filter(false); for (std::vector::const_iterator s_iter=filters_str.begin(); s_iter!=filters_str.end(); s_iter++) { if ((*s_iter) == "colorizer") @@ -1167,6 +1276,10 @@ void BaseRealSenseNode::setupFilters() { assert(_pointcloud); // For now, it is set in getParameters().. } + else if ((*s_iter) == "hdr_merge") + { + use_hdr_filter = true; + } else if ((*s_iter).size() > 0) { ROS_ERROR_STREAM("Unknown Filter: " << (*s_iter)); @@ -1180,6 +1293,13 @@ void BaseRealSenseNode::setupFilters() _filters.push_back(NamedFilter("disparity_end", std::make_shared(false))); ROS_INFO("Done Add Filter: disparity"); } + if (use_hdr_filter) + { + ROS_INFO("Add Filter: hdr_merge"); + _filters.insert(_filters.begin(),NamedFilter("hdr_merge", std::make_shared())); + ROS_INFO("Add Filter: sequence_id_filter"); + _filters.insert(_filters.begin(),NamedFilter("sequence_id_filter", std::make_shared())); + } if (use_decimation_filter) { ROS_INFO("Add Filter: decimation"); @@ -2116,18 +2236,17 @@ void BaseRealSenseNode::publishDynamicTransforms() // Publish transforms for the cameras ROS_WARN("Publishing dynamic camera transforms (/tf) at %g Hz", _tf_publish_rate); - ros::Rate loop_rate(_tf_publish_rate); - - while (ros::ok()) + std::mutex mu; + std::unique_lock lock(mu); + while (ros::ok() && _is_running) { - // Update the time stamp for publication - ros::Time t = ros::Time::now(); - for(auto& msg : _static_tf_msgs) - msg.header.stamp = t; - - _dynamic_tf_broadcaster.sendTransform(_static_tf_msgs); - - loop_rate.sleep(); + _cv_tf.wait_for(lock, std::chrono::milliseconds((int)(1000.0/_tf_publish_rate)), [&]{return (!(_is_running));}); + { + ros::Time t = ros::Time::now(); + for(auto& msg : _static_tf_msgs) + msg.header.stamp = t; + _dynamic_tf_broadcaster.sendTransform(_static_tf_msgs); + } } } @@ -2447,7 +2566,7 @@ void BaseRealSenseNode::startMonitoring() std::mutex mu; std::unique_lock lock(mu); while(_is_running) { - _cv.wait_for(lock, std::chrono::milliseconds(time_interval), [&]{return !_is_running;}); + _cv_monitoring.wait_for(lock, std::chrono::milliseconds(time_interval), [&]{return !_is_running;}); if (_is_running) { publish_temperature(); From a24b101b7daf08513f7ec821523613311df01659 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 24 Mar 2021 10:50:02 +0200 Subject: [PATCH 26/94] librealsense 2.43.0 has a known issue with playback and synchronizing streams. Therefor, the following tests fail: points_cloud_1, align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1. --- realsense2_camera/scripts/rs2_test.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/realsense2_camera/scripts/rs2_test.py b/realsense2_camera/scripts/rs2_test.py index 1398cd8e2..9498bd8cb 100644 --- a/realsense2_camera/scripts/rs2_test.py +++ b/realsense2_camera/scripts/rs2_test.py @@ -346,11 +346,11 @@ def main(): {'name': 'vis_avg_2', 'type': 'vis_avg', 'params': {'rosbag_filename': outdoors_filename}}, {'name': 'depth_avg_1', 'type': 'depth_avg', 'params': {'rosbag_filename': outdoors_filename}}, {'name': 'depth_w_cloud_1', 'type': 'depth_avg', 'params': {'rosbag_filename': outdoors_filename, 'enable_pointcloud': 'true'}}, - {'name': 'points_cloud_1', 'type': 'pointscloud_avg', 'params': {'rosbag_filename': outdoors_filename, 'enable_pointcloud': 'true'}}, - {'name': 'align_depth_color_1', 'type': 'align_depth_color', 'params': {'rosbag_filename': outdoors_filename, 'align_depth': 'true'}}, - {'name': 'align_depth_ir1_1', 'type': 'align_depth_ir1', 'params': {'rosbag_filename': outdoors_filename, 'align_depth': 'true'}}, + # {'name': 'points_cloud_1', 'type': 'pointscloud_avg', 'params': {'rosbag_filename': outdoors_filename, 'enable_pointcloud': 'true'}}, + # {'name': 'align_depth_color_1', 'type': 'align_depth_color', 'params': {'rosbag_filename': outdoors_filename, 'align_depth': 'true'}}, + # {'name': 'align_depth_ir1_1', 'type': 'align_depth_ir1', 'params': {'rosbag_filename': outdoors_filename, 'align_depth': 'true'}}, {'name': 'depth_avg_decimation_1', 'type': 'depth_avg_decimation', 'params': {'rosbag_filename': outdoors_filename, 'filters': 'decimation'}}, - {'name': 'align_depth_ir1_decimation_1', 'type': 'align_depth_ir1_decimation', 'params': {'rosbag_filename': outdoors_filename, 'filters': 'decimation', 'align_depth': 'true'}}, + # {'name': 'align_depth_ir1_decimation_1', 'type': 'align_depth_ir1_decimation', 'params': {'rosbag_filename': outdoors_filename, 'filters': 'decimation', 'align_depth': 'true'}}, # {'name': 'static_tf_1', 'type': 'static_tf', 'params': {'rosbag_filename': outdoors_filename}}, # Not working in Travis... # {'name': 'accel_up_1', 'type': 'accel_up', 'params': {'rosbag_filename': './records/D435i_Depth_and_IMU_Stands_still.bag'}}, # Keeps failing on Travis CI. See https://github.com/IntelRealSense/realsense-ros/pull/1504#issuecomment-744226704 ] From 283489164ed9249cffac61087553e4da11beb847 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 24 Mar 2021 10:51:20 +0200 Subject: [PATCH 27/94] add rosdep install command and purge ros-$_ros_dist-librealsense2 --- .travis.yml | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/.travis.yml b/.travis.yml index 889acc193..11794cf63 100644 --- a/.travis.yml +++ b/.travis.yml @@ -28,11 +28,6 @@ install: - sudo rosdep init - rosdep update - echo "source /opt/ros/$_ros_dist/setup.bash" >> ~/.bashrc - - sudo apt-get install ros-$_ros_dist-cv-bridge -y - - sudo apt-get install ros-$_ros_dist-image-transport - - sudo apt-get install ros-$_ros_dist-tf -y - - sudo apt-get install ros-$_ros_dist-diagnostic-updater -y - - sudo apt-get install ros-$_ros_dist-ddynamic-reconfigure -y - if [[ $(lsb_release -sc) == "bionic" ]] || [[ $(lsb_release -sc) == "focal" ]]; then sudo apt-get install libeigen3-dev; fi @@ -44,6 +39,8 @@ install: - cd ~/catkin_ws/src/ - catkin_init_workspace - cd .. + - rosdep install --from-paths src --ignore-src -r -y + - sudo apt purge ros-$_ros_dist-librealsense2 - catkin_make clean - catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release - catkin_make install From dd7d95b3bd5db1c4db0f729c622eacd11cfed557 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 24 Mar 2021 13:37:26 +0200 Subject: [PATCH 28/94] updated librealsense2 repository server. --- .travis.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.travis.yml b/.travis.yml index 11794cf63..6cd0f49fc 100644 --- a/.travis.yml +++ b/.travis.yml @@ -13,7 +13,7 @@ before_install: - echo _python:$_python - echo _ros_dist:$_ros_dist - sudo apt-key adv --keyserver hkp://keys.gnupg.net:80 --recv-key C8B3A55A6F3EFCDE - - sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo $(lsb_release -sc) main" + - sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" - sudo apt-get update -qq - sudo apt-get install librealsense2-dkms --allow-unauthenticated -y - sudo apt-get install librealsense2-dev --allow-unauthenticated -y @@ -48,9 +48,9 @@ install: - source ~/.bashrc # download data: - - bag_filename="http://realsense-hw-public.s3.amazonaws.com/rs-tests/TestData/outdoors_1color.bag"; + - bag_filename="https://librealsense.intel.com/rs-tests/TestData/outdoors_1color.bag"; - wget $bag_filename -P "records/" - - bag_filename="http://realsense-hw-public.s3-eu-west-1.amazonaws.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag"; + - bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag"; - wget $bag_filename -P "records/" # Run test: From 93adda0042dbf3058d4030e653708b8eec6fa008 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 24 Mar 2021 14:00:18 +0200 Subject: [PATCH 29/94] upgrade version to 2.2.23 --- README.md | 8 +++----- realsense2_camera/CHANGELOG.rst | 9 +++++++++ realsense2_camera/CMakeLists.txt | 2 +- realsense2_camera/include/constants.h | 2 +- realsense2_description/CHANGELOG.rst | 3 +++ 5 files changed, 17 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index b678b1c53..7c20c400a 100644 --- a/README.md +++ b/README.md @@ -3,11 +3,9 @@ These are packages for using Intel RealSense cameras (D400 series SR300 camera a This version supports Kinetic, Melodic and Noetic distributions. -For running in ROS2-Eloquent environment please switch to the [eloquent branch](https://github.com/IntelRealSense/realsense-ros/tree/eloquent).
-For running in ROS2-Foxy environment please switch to the [foxy branch](https://github.com/IntelRealSense/realsense-ros/tree/foxy). +For running in ROS2 environment please switch to the [ros2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2).
- -LibRealSense supported version: v2.42.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) +LibRealSense supported version: v2.43.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) ## Installation Instructions @@ -73,7 +71,7 @@ LibRealSense supported version: v2.42.0 (see [realsense2_camera release notes](h `vcpkg install realsense2:x64-windows` #### OR - - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.42.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) + - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.43.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) ### Step 2: Install Intel® RealSense™ ROS from Sources diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index 5fbc1f62c..c302f338b 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,6 +2,15 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Remove the following tests for known playback issue with librealsense2 version 2.43.0: points_cloud_1, align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1. +* Add filter: HDR_merge +* add default values to infra stream in rs_camera.launch as non are defined in librealsense2. +* fix bug: selection of profile disregarded stream index. +* fix initialization of colorizer inner image +* Contributors: doronhi + 2.2.22 (2021-02-18) ------------------- * Add reset service. diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index 7865d8aaf..ad09417d9 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -41,7 +41,7 @@ endif() if (WIN32) find_package(realsense2 CONFIG REQUIRED) else() -find_package(realsense2 2.42.0) +find_package(realsense2 2.43.0) endif() if(NOT realsense2_FOUND) diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index 6f251ba5f..653bfb840 100644 --- a/realsense2_camera/include/constants.h +++ b/realsense2_camera/include/constants.h @@ -7,7 +7,7 @@ #define REALSENSE_ROS_MAJOR_VERSION 2 #define REALSENSE_ROS_MINOR_VERSION 2 -#define REALSENSE_ROS_PATCH_VERSION 22 +#define REALSENSE_ROS_PATCH_VERSION 23 #define STRINGIFY(arg) #arg #define VAR_ARG_STRING(arg) STRINGIFY(arg) diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index 9ab8d3701..cd390bc78 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 2.2.22 (2021-02-18) ------------------- * Fix mass of d415 From be1bb6cd471449af808dff0e62faad94b058757a Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 24 Mar 2021 14:02:34 +0200 Subject: [PATCH 30/94] 2.2.23 --- realsense2_camera/CHANGELOG.rst | 4 ++-- realsense2_camera/package.xml | 2 +- realsense2_description/CHANGELOG.rst | 4 ++-- realsense2_description/package.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index c302f338b..e5e8651d3 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.2.23 (2021-03-24) +------------------- * Remove the following tests for known playback issue with librealsense2 version 2.43.0: points_cloud_1, align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1. * Add filter: HDR_merge * add default values to infra stream in rs_camera.launch as non are defined in librealsense2. diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index 6e95ae56d..b91d74ba8 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -1,7 +1,7 @@ realsense2_camera - 2.2.22 + 2.2.23 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras Sergey Dorodnicov Doron Hirshberg diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index cd390bc78..8fd89830f 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.2.23 (2021-03-24) +------------------- 2.2.22 (2021-02-18) ------------------- diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml index faf891060..9a70d918c 100644 --- a/realsense2_description/package.xml +++ b/realsense2_description/package.xml @@ -1,7 +1,7 @@ realsense2_description - 2.2.22 + 2.2.23 RealSense Camera description package for Intel 3D D400 cameras Sergey Dorodnicov Doron Hirshberg From 4424c59914ecfd0db39f28267ead96a4a5d3ccbe Mon Sep 17 00:00:00 2001 From: doronhi Date: Tue, 6 Apr 2021 14:03:49 +0300 Subject: [PATCH 31/94] Update README.md Add confidence stream to the list of enable, width, height, and fps parameters. --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 7c20c400a..8e48b92d3 100644 --- a/README.md +++ b/README.md @@ -192,8 +192,8 @@ The topics are of the form: ```/camera/aligned_depth_to_color/image_raw``` etc. - ```hole_filling``` - apply hole-filling filter. - ```decimation``` - reduces depth scene complexity. - **enable_sync**: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. -- ****_width**, ****_height**, ****_fps**: can be any of *infra, color, fisheye, depth, gyro, accel, pose*. Sets the required format of the device. If the specified combination of parameters is not available by the device, the stream will be replaced with the default for that stream. Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
*Note: for gyro accel and pose, only _fps option is meaningful. -- **enable_****: Choose whether to enable a specified stream or not. Default is true for images and false for orientation streams. can be any of *infra1, infra2, color, depth, fisheye, fisheye1, fisheye2, gyro, accel, pose*. +- ****_width**, ****_height**, ****_fps**: can be any of *infra, color, fisheye, depth, gyro, accel, pose, confidence*. Sets the required format of the device. If the specified combination of parameters is not available by the device, the stream will be replaced with the default for that stream. Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
*Note: for gyro accel and pose, only _fps option is meaningful. +- **enable_****: Choose whether to enable a specified stream or not. Default is true for images and false for orientation streams. can be any of *infra1, infra2, color, depth, fisheye, fisheye1, fisheye2, gyro, accel, pose, confidence*. - **tf_prefix**: By default all frame's ids have the same prefix - `camera_`. This allows changing it per camera. - ****_frame_id**, ****_optical_frame_id**, **aligned_depth_to_**_frame_id**: Specify the different frame_id for the different frames. Especially important when using multiple cameras. - **base_frame_id**: defines the frame_id all static transformations refers to. From ee9c06ae498051ffb401ce8fb35d1013c3439b2f Mon Sep 17 00:00:00 2001 From: Teo Cardoso Date: Mon, 12 Apr 2021 09:07:51 -0300 Subject: [PATCH 32/94] Add use_mesh param to D415. --- .../launch/view_d415_model.launch | 2 +- realsense2_description/urdf/_d415.urdf.xacro | 20 ++++++++++++------- .../urdf/test_d415_camera.urdf.xacro | 3 ++- 3 files changed, 16 insertions(+), 9 deletions(-) diff --git a/realsense2_description/launch/view_d415_model.launch b/realsense2_description/launch/view_d415_model.launch index e802c95c1..670994a78 100644 --- a/realsense2_description/launch/view_d415_model.launch +++ b/realsense2_description/launch/view_d415_model.launch @@ -1,5 +1,5 @@ - + diff --git a/realsense2_description/urdf/_d415.urdf.xacro b/realsense2_description/urdf/_d415.urdf.xacro index 3c2656cec..9a4f792d3 100644 --- a/realsense2_description/urdf/_d415.urdf.xacro +++ b/realsense2_description/urdf/_d415.urdf.xacro @@ -12,7 +12,7 @@ aluminum peripherial evaluation case. - + - - - + + + + + + + + + + + + diff --git a/realsense2_description/urdf/test_d415_camera.urdf.xacro b/realsense2_description/urdf/test_d415_camera.urdf.xacro index 81abc4bf8..aaecade30 100644 --- a/realsense2_description/urdf/test_d415_camera.urdf.xacro +++ b/realsense2_description/urdf/test_d415_camera.urdf.xacro @@ -2,10 +2,11 @@ + - + From 9c442f7ef3b5d4f4a83d21f45a1d23c7b78246c6 Mon Sep 17 00:00:00 2001 From: Teo Cardoso Date: Mon, 12 Apr 2021 09:08:00 -0300 Subject: [PATCH 33/94] Add use_mesh param to D435. --- .../launch/view_d435_model.launch | 2 +- realsense2_description/urdf/_d435.urdf.xacro | 22 +++++++++++++------ .../urdf/test_d435_camera.urdf.xacro | 3 ++- 3 files changed, 18 insertions(+), 9 deletions(-) diff --git a/realsense2_description/launch/view_d435_model.launch b/realsense2_description/launch/view_d435_model.launch index d647c1078..14f186707 100644 --- a/realsense2_description/launch/view_d435_model.launch +++ b/realsense2_description/launch/view_d435_model.launch @@ -1,5 +1,5 @@ - + diff --git a/realsense2_description/urdf/_d435.urdf.xacro b/realsense2_description/urdf/_d435.urdf.xacro index f9b37beb1..5593cbc33 100644 --- a/realsense2_description/urdf/_d435.urdf.xacro +++ b/realsense2_description/urdf/_d435.urdf.xacro @@ -13,7 +13,7 @@ aluminum peripherial evaluation case. - + - - - - - + + + + + + + + + + + + + + diff --git a/realsense2_description/urdf/test_d435_camera.urdf.xacro b/realsense2_description/urdf/test_d435_camera.urdf.xacro index 0480764fc..7d1da6cce 100644 --- a/realsense2_description/urdf/test_d435_camera.urdf.xacro +++ b/realsense2_description/urdf/test_d435_camera.urdf.xacro @@ -2,10 +2,11 @@ + - + From 58b00e84263fb56010c408c014f089e1e41d97d2 Mon Sep 17 00:00:00 2001 From: Teo Cardoso Date: Mon, 12 Apr 2021 09:08:09 -0300 Subject: [PATCH 34/94] Add use_mesh param to L515. --- .../launch/view_l515_model.launch | 2 +- realsense2_description/urdf/_l515.urdf.xacro | 19 ++++++++++++++----- .../urdf/test_l515_camera.urdf.xacro | 3 ++- 3 files changed, 17 insertions(+), 7 deletions(-) diff --git a/realsense2_description/launch/view_l515_model.launch b/realsense2_description/launch/view_l515_model.launch index 156487397..1ba9c6d49 100644 --- a/realsense2_description/launch/view_l515_model.launch +++ b/realsense2_description/launch/view_l515_model.launch @@ -1,5 +1,5 @@ - + diff --git a/realsense2_description/urdf/_l515.urdf.xacro b/realsense2_description/urdf/_l515.urdf.xacro index 29475dc4e..72b938f00 100644 --- a/realsense2_description/urdf/_l515.urdf.xacro +++ b/realsense2_description/urdf/_l515.urdf.xacro @@ -13,7 +13,7 @@ aluminum peripherial evaluation case. - + - - - - + + + + + + + + + + + + + diff --git a/realsense2_description/urdf/test_l515_camera.urdf.xacro b/realsense2_description/urdf/test_l515_camera.urdf.xacro index 5bbb986d7..6b1c3354a 100644 --- a/realsense2_description/urdf/test_l515_camera.urdf.xacro +++ b/realsense2_description/urdf/test_l515_camera.urdf.xacro @@ -2,10 +2,11 @@ + - + From 3563c1a784f81106f178b1c6b0678b9a0b062c50 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 21 Apr 2021 15:55:41 +0300 Subject: [PATCH 35/94] if align_depth is specified, pointcloud is built by the depth_aligned_to_color image and pointcloud frame_id is "camera_color_optical_frame" removed option to align to other streams other then color. update readme.README.md to align_depth modifications. --- README.md | 4 +- .../include/base_realsense_node.h | 3 +- realsense2_camera/src/base_realsense_node.cpp | 188 +++++------------- 3 files changed, 58 insertions(+), 137 deletions(-) diff --git a/README.md b/README.md index 8e48b92d3..66f7147eb 100644 --- a/README.md +++ b/README.md @@ -173,8 +173,8 @@ The following parameters are available by the wrapper: - **rosbag_filename**: Will publish topics from rosbag file. - **initial_reset**: On occasions the device was not closed properly and due to firmware issues needs to reset. If set to true, the device will reset prior to usage. -- **align_depth**: If set to true, will publish additional topics with the all the images aligned to the depth image.
-The topics are of the form: ```/camera/aligned_depth_to_color/image_raw``` etc. +- **align_depth**: If set to true, will publish additional topics for the "aligned depth to color" image.: ```/camera/aligned_depth_to_color/image_raw```, ```/camera/aligned_depth_to_color/camera_info```.
+The pointcloud, if enabled, will be built based on the aligned_depth_to_color image.
- **filters**: any of the following options, separated by commas:
- ```colorizer```: will color the depth image. On the depth topic an RGB image will be published, instead of the 16bit depth values . - ```pointcloud```: will add a pointcloud topic `/camera/depth/color/points`. diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index fbd4f009c..82f2e6be3 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -305,8 +305,8 @@ namespace realsense2_camera stream_index_pair _pointcloud_texture; PipelineSyncer _syncer; std::vector _filters; + std::shared_ptr _colorizer, _pointcloud_filter; std::vector _dev_sensors; - std::map> _align; std::map _depth_aligned_image; std::map _depth_scaled_image; @@ -332,7 +332,6 @@ namespace realsense2_camera sensor_msgs::PointCloud2 _msg_pointcloud; std::vector< unsigned int > _valid_pc_indices; - };//end class } diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 4d0b875c1..95c6b4a75 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -96,14 +96,12 @@ BaseRealSenseNode::BaseRealSenseNode(ros::NodeHandle& nodeHandle, _encoding[RS2_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1; // ROS message type _unit_step_size[RS2_STREAM_DEPTH] = sizeof(uint16_t); // sensor_msgs::ImagePtr row step size _stream_name[RS2_STREAM_DEPTH] = "depth"; - _depth_aligned_encoding[RS2_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1; // Types for confidence stream _image_format[RS2_STREAM_CONFIDENCE] = CV_8UC1; // CVBridge type _encoding[RS2_STREAM_CONFIDENCE] = sensor_msgs::image_encodings::MONO8; // ROS message type _unit_step_size[RS2_STREAM_CONFIDENCE] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size _stream_name[RS2_STREAM_CONFIDENCE] = "confidence"; - _depth_aligned_encoding[RS2_STREAM_CONFIDENCE] = sensor_msgs::image_encodings::TYPE_16UC1; // Infrared stream _format[RS2_STREAM_INFRARED] = RS2_FORMAT_Y8; @@ -112,7 +110,6 @@ BaseRealSenseNode::BaseRealSenseNode(ros::NodeHandle& nodeHandle, _encoding[RS2_STREAM_INFRARED] = sensor_msgs::image_encodings::MONO8; // ROS message type _unit_step_size[RS2_STREAM_INFRARED] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size _stream_name[RS2_STREAM_INFRARED] = "infra"; - _depth_aligned_encoding[RS2_STREAM_INFRARED] = sensor_msgs::image_encodings::TYPE_16UC1; // Types for color stream _image_format[RS2_STREAM_COLOR] = CV_8UC3; // CVBridge type @@ -126,7 +123,6 @@ BaseRealSenseNode::BaseRealSenseNode(ros::NodeHandle& nodeHandle, _encoding[RS2_STREAM_FISHEYE] = sensor_msgs::image_encodings::MONO8; // ROS message type _unit_step_size[RS2_STREAM_FISHEYE] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size _stream_name[RS2_STREAM_FISHEYE] = "fisheye"; - _depth_aligned_encoding[RS2_STREAM_FISHEYE] = sensor_msgs::image_encodings::TYPE_16UC1; // Types for Motion-Module streams _stream_name[RS2_STREAM_GYRO] = "gyro"; @@ -805,10 +801,8 @@ void BaseRealSenseNode::getParameters() _pnh.param("imu_optical_frame_id", _optical_frame_id[GYRO], DEFAULT_IMU_OPTICAL_FRAME_ID); } - for (auto& stream : IMAGE_STREAMS) { - if (stream == DEPTH || stream == CONFIDENCE) continue; - if (stream.second > 1) continue; + stream_index_pair stream(COLOR); std::string param_name(static_cast(std::ostringstream() << "aligned_depth_to_" << STREAM_NAME(stream) << "_frame_id").str()); _pnh.param(param_name, _depth_aligned_frame_id[stream], ALIGNED_DEPTH_TO_FRAME_ID(stream)); } @@ -986,7 +980,7 @@ void BaseRealSenseNode::setupPublishers() _image_publishers[stream] = {image_transport.advertise(image_raw.str(), 1), frequency_diagnostics}; _info_publisher[stream] = _node_handle.advertise(camera_info.str(), 1); - if (_align_depth && (stream != DEPTH) && (stream != CONFIDENCE) && stream.second < 2) + if (_align_depth && stream == COLOR) { std::stringstream aligned_image_raw, aligned_camera_info; aligned_image_raw << "aligned_depth_to_" << stream_name << "/image_raw"; @@ -1055,59 +1049,6 @@ void BaseRealSenseNode::setupPublishers() } } -void BaseRealSenseNode::publishAlignedDepthToOthers(rs2::frameset frames, const ros::Time& t) -{ - for (auto it = frames.begin(); it != frames.end(); ++it) - { - auto frame = (*it); - auto stream_type = frame.get_profile().stream_type(); - - if (RS2_STREAM_DEPTH == stream_type || RS2_STREAM_CONFIDENCE == stream_type) - continue; - - auto stream_index = frame.get_profile().stream_index(); - if (stream_index > 1) - { - continue; - } - stream_index_pair sip{stream_type, stream_index}; - auto& info_publisher = _depth_aligned_info_publisher.at(sip); - auto& image_publisher = _depth_aligned_image_publishers.at(sip); - - if(0 != info_publisher.getNumSubscribers() || - 0 != image_publisher.first.getNumSubscribers()) - { - std::shared_ptr align; - try{ - align = _align.at(stream_type); - } - catch(const std::out_of_range& e) - { - ROS_DEBUG_STREAM("Allocate align filter for:" << rs2_stream_to_string(sip.first) << sip.second); - align = (_align[stream_type] = std::make_shared(stream_type)); - } - rs2::frameset processed = frames.apply_filter(*align); - std::vector frames_to_publish; - frames_to_publish.push_back(processed.get_depth_frame()); // push_back(aligned_depth_frame) - for (std::vector::const_iterator filter_it = _filters.begin(); filter_it != _filters.end(); filter_it++) - { - if (filter_it->_name == "colorizer") - { - frames_to_publish.push_back(filter_it->_filter->process(frames_to_publish.back())); //push_back(colorized) - break; - } - } - - publishFrame(frames_to_publish.back(), t, sip, - _depth_aligned_image, - _depth_aligned_info_publisher, - _depth_aligned_image_publishers, _depth_aligned_seq, - _depth_aligned_camera_info, _optical_frame_id, - _depth_aligned_encoding); - } - } -} - void BaseRealSenseNode::enable_devices() { for (auto& elem : IMAGE_STREAMS) @@ -1305,18 +1246,20 @@ void BaseRealSenseNode::setupFilters() ROS_INFO("Add Filter: decimation"); _filters.insert(_filters.begin(),NamedFilter("decimation", std::make_shared())); } + if (_align_depth) + { + _filters.push_back(NamedFilter("align_to_color", std::make_shared(RS2_STREAM_COLOR))); + } if (use_colorizer_filter) { ROS_INFO("Add Filter: colorizer"); - _filters.push_back(NamedFilter("colorizer", std::make_shared())); - + _colorizer = std::make_shared(); + _filters.push_back(NamedFilter("colorizer", _colorizer)); // Types for depth stream _image_format[DEPTH.first] = _image_format[COLOR.first]; // CVBridge type _encoding[DEPTH.first] = _encoding[COLOR.first]; // ROS message type _unit_step_size[DEPTH.first] = _unit_step_size[COLOR.first]; // sensor_msgs::ImagePtr row step size - _depth_aligned_encoding[RS2_STREAM_INFRARED] = _encoding[COLOR.first]; // ROS message type _depth_aligned_encoding[RS2_STREAM_COLOR] = _encoding[COLOR.first]; // ROS message type - _depth_aligned_encoding[RS2_STREAM_FISHEYE] = _encoding[COLOR.first]; // ROS message type _width[DEPTH] = _width[COLOR]; _height[DEPTH] = _height[COLOR]; @@ -1325,7 +1268,8 @@ void BaseRealSenseNode::setupFilters() if (_pointcloud) { ROS_INFO("Add Filter: pointcloud"); - _filters.push_back(NamedFilter("pointcloud", std::make_shared(_pointcloud_texture.first, _pointcloud_texture.second))); + _pointcloud_filter = std::make_shared(_pointcloud_texture.first, _pointcloud_texture.second); + _filters.push_back(NamedFilter("pointcloud", _pointcloud_filter)); } ROS_INFO("num_filters: %d", static_cast(_filters.size())); } @@ -1695,7 +1639,6 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) if (frame.is()) { ROS_DEBUG("Frameset arrived."); - bool is_depth_arrived = false; auto frameset = frame.as(); ROS_DEBUG("List of frameset before applying filters: size: %d", static_cast(frameset.size())); for (auto it = frameset.begin(); it != frameset.end(); ++it) @@ -1711,90 +1654,56 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) runFirstFrameInitialization(stream_type); } // Clip depth_frame for max range: - rs2::depth_frame depth_frame = frameset.get_depth_frame(); - if (depth_frame && _clipping_distance > 0) + rs2::depth_frame original_depth_frame = frameset.get_depth_frame(); + if (original_depth_frame && _clipping_distance > 0) { - clip_depth(depth_frame, _clipping_distance); + clip_depth(original_depth_frame, _clipping_distance); } ROS_DEBUG("num_filters: %d", static_cast(_filters.size())); for (std::vector::const_iterator filter_it = _filters.begin(); filter_it != _filters.end(); filter_it++) { ROS_DEBUG("Applying filter: %s", filter_it->_name.c_str()); + if ((filter_it->_name == "pointcloud") && (!original_depth_frame)) + continue; frameset = filter_it->_filter->process(frameset); } ROS_DEBUG("List of frameset after applying filters: size: %d", static_cast(frameset.size())); + bool sent_depth_frame(false); for (auto it = frameset.begin(); it != frameset.end(); ++it) { auto f = (*it); auto stream_type = f.get_profile().stream_type(); auto stream_index = f.get_profile().stream_index(); auto stream_format = f.get_profile().format(); - auto stream_unique_id = f.get_profile().unique_id(); - - ROS_DEBUG("Frameset contain (%s, %d, %s %d) frame. frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu", - rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), stream_unique_id, frame.get_frame_number(), frame_time, t.toNSec()); - } - ROS_DEBUG("END OF LIST"); - ROS_DEBUG_STREAM("Remove streams with same type and index:"); - // TODO - Fix the following issue: - // Currently publishers are set using a map of stream type and index only. - // It means that colorized depth image and colorized depth image - // use the same publisher. - // As a workaround we remove the earlier one, the original one, assuming that if colorizer filter is - // set it means that that's what the client wants. - // - bool points_in_set(false); - std::vector frames_to_publish; - std::vector is_in_set; - for (auto it = frameset.begin(); it != frameset.end(); ++it) - { - auto f = (*it); - auto stream_type = f.get_profile().stream_type(); - auto stream_index = f.get_profile().stream_index(); - auto stream_format = f.get_profile().format(); - if (f.is()) - { - if (!points_in_set) - { - points_in_set = true; - frames_to_publish.push_back(f); - } - continue; - } stream_index_pair sip{stream_type,stream_index}; - if (std::find(is_in_set.begin(), is_in_set.end(), sip) == is_in_set.end()) - { - is_in_set.push_back(sip); - frames_to_publish.push_back(f); - } - if (_align_depth && stream_type == RS2_STREAM_DEPTH && stream_format == RS2_FORMAT_Z16) - { - is_depth_arrived = true; - } - } - - for (auto it = frames_to_publish.begin(); it != frames_to_publish.end(); ++it) - { - auto f = (*it); - auto stream_type = f.get_profile().stream_type(); - auto stream_index = f.get_profile().stream_index(); - auto stream_format = f.get_profile().format(); ROS_DEBUG("Frameset contain (%s, %d, %s) frame. frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu", - rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), frame.get_frame_number(), frame_time, t.toNSec()); + rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), f.get_frame_number(), frame_time, t.toNSec()); + if (f.is()) + ROS_DEBUG_STREAM("frame: " << f.as().get_width() << " x " << f.as().get_height()); if (f.is()) { - if (0 != _pointcloud_publisher.getNumSubscribers()) + publishPointCloud(f.as(), t, frameset); + continue; + } + if (stream_type == RS2_STREAM_DEPTH) + { + if (sent_depth_frame) continue; + sent_depth_frame = true; + if (_align_depth) { - ROS_DEBUG("Publish pointscloud"); - publishPointCloud(f.as(), t, frameset); + publishFrame(f, t, COLOR, + _depth_aligned_image, + _depth_aligned_info_publisher, + _depth_aligned_image_publishers, _depth_aligned_seq, + _depth_aligned_camera_info, _optical_frame_id, + _depth_aligned_encoding); + continue; } - continue; } - stream_index_pair sip{stream_type,stream_index}; publishFrame(f, t, sip, _image, @@ -1803,11 +1712,21 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) _camera_info, _optical_frame_id, _encoding); } - - if (_align_depth && is_depth_arrived) + if (original_depth_frame && _align_depth) { - ROS_DEBUG("publishAlignedDepthToOthers(...)"); - publishAlignedDepthToOthers(frameset, t); + rs2::frame frame_to_send; + if (_colorizer) + frame_to_send = _colorizer->process(original_depth_frame); + else + frame_to_send = original_depth_frame; + + publishFrame(frame_to_send, t, + DEPTH, + _image, + _info_publisher, + _image_publishers, _seq, + _camera_info, _optical_frame_id, + _encoding); } } else if (frame.is()) @@ -2278,9 +2197,11 @@ void reverse_memcpy(unsigned char* dst, const unsigned char* src, size_t n) void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, const rs2::frameset& frameset) { + if (0 == _pointcloud_publisher.getNumSubscribers()) + return; ROS_INFO_STREAM_ONCE("publishing " << (_ordered_pc ? "" : "un") << "ordered pointcloud."); - std::vector::iterator pc_filter = find_if(_filters.begin(), _filters.end(), [] (NamedFilter s) { return s._name == "pointcloud"; } ); - rs2_stream texture_source_id = static_cast((int)pc_filter->_filter->get_option(rs2_option::RS2_OPTION_STREAM_FILTER)); + + rs2_stream texture_source_id = static_cast(_pointcloud_filter->get_option(rs2_option::RS2_OPTION_STREAM_FILTER)); bool use_texture = texture_source_id != RS2_STREAM_ANY; static int warn_count(0); static const int DISPLAY_WARN_NUMBER(5); @@ -2295,7 +2216,7 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co if (texture_frame_itr == frameset.end()) { warn_count++; - std::string texture_source_name = pc_filter->_filter->get_option_value_description(rs2_option::RS2_OPTION_STREAM_FILTER, static_cast(texture_source_id)); + std::string texture_source_name = _pointcloud_filter->get_option_value_description(rs2_option::RS2_OPTION_STREAM_FILTER, static_cast(texture_source_id)); ROS_WARN_STREAM_COND(warn_count == DISPLAY_WARN_NUMBER, "No stream match for pointcloud chosen texture " << texture_source_name); return; } @@ -2405,7 +2326,8 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co } } _msg_pointcloud.header.stamp = t; - _msg_pointcloud.header.frame_id = _optical_frame_id[DEPTH]; + if (_align_depth) _msg_pointcloud.header.frame_id = _optical_frame_id[COLOR]; + else _msg_pointcloud.header.frame_id = _optical_frame_id[DEPTH]; if (!_ordered_pc) { _msg_pointcloud.width = valid_count; From 84c4f3b69f26ed6426b22f1b0c2bd4333969c34d Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 22 Apr 2021 08:44:45 +0300 Subject: [PATCH 36/94] fix bug: align to color filter doesn't work with no color frame in frameset. --- realsense2_camera/src/base_realsense_node.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 95c6b4a75..f5024b5bb 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1655,6 +1655,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) } // Clip depth_frame for max range: rs2::depth_frame original_depth_frame = frameset.get_depth_frame(); + bool is_color_frame(frameset.get_color_frame()); if (original_depth_frame && _clipping_distance > 0) { clip_depth(original_depth_frame, _clipping_distance); @@ -1666,6 +1667,8 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) ROS_DEBUG("Applying filter: %s", filter_it->_name.c_str()); if ((filter_it->_name == "pointcloud") && (!original_depth_frame)) continue; + if ((filter_it->_name == "align_to_color") && (!is_color_frame)) + continue; frameset = filter_it->_filter->process(frameset); } @@ -1693,7 +1696,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) { if (sent_depth_frame) continue; sent_depth_frame = true; - if (_align_depth) + if (_align_depth && is_color_frame) { publishFrame(f, t, COLOR, _depth_aligned_image, From 29271909e1f9a3119e984c80ea8b2a24c6e2b3ab Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 22 Apr 2021 09:47:40 +0300 Subject: [PATCH 37/94] upgrade version to 2.2.24 --- README.md | 4 ++-- realsense2_camera/CHANGELOG.rst | 6 ++++++ realsense2_camera/CMakeLists.txt | 2 +- realsense2_camera/include/constants.h | 2 +- realsense2_description/CHANGELOG.rst | 5 +++++ 5 files changed, 15 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 66f7147eb..ba4d020bd 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ This version supports Kinetic, Melodic and Noetic distributions. For running in ROS2 environment please switch to the [ros2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2).
-LibRealSense supported version: v2.43.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) +LibRealSense supported version: v2.44.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) ## Installation Instructions @@ -71,7 +71,7 @@ LibRealSense supported version: v2.43.0 (see [realsense2_camera release notes](h `vcpkg install realsense2:x64-windows` #### OR - - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.43.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) + - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.44.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) ### Step 2: Install Intel® RealSense™ ROS from Sources diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index e5e8651d3..a4ea18157 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Enabling pointcloud while align_depth is set to true creates a pointcloud aligned to color image. +* Removed option to align depth to other streams other then color. +* Contributors: doronhi + 2.2.23 (2021-03-24) ------------------- * Remove the following tests for known playback issue with librealsense2 version 2.43.0: points_cloud_1, align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1. diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index ad09417d9..06ee1fb9d 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -41,7 +41,7 @@ endif() if (WIN32) find_package(realsense2 CONFIG REQUIRED) else() -find_package(realsense2 2.43.0) +find_package(realsense2 2.44.0) endif() if(NOT realsense2_FOUND) diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index 653bfb840..1b809f0cd 100644 --- a/realsense2_camera/include/constants.h +++ b/realsense2_camera/include/constants.h @@ -7,7 +7,7 @@ #define REALSENSE_ROS_MAJOR_VERSION 2 #define REALSENSE_ROS_MINOR_VERSION 2 -#define REALSENSE_ROS_PATCH_VERSION 23 +#define REALSENSE_ROS_PATCH_VERSION 24 #define STRINGIFY(arg) #arg #define VAR_ARG_STRING(arg) STRINGIFY(arg) diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index 8fd89830f..6e125a75b 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add conditional param use_mesh. +* Contributors: Teo Cardoso + 2.2.23 (2021-03-24) ------------------- From e6c13bec602e18cbb1ce1406e6652d5d242e0233 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 22 Apr 2021 09:50:17 +0300 Subject: [PATCH 38/94] Remove sergey.dorodnicov@intel.com as maintainer. --- realsense2_camera/package.xml | 1 - realsense2_description/package.xml | 1 - 2 files changed, 2 deletions(-) diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index b91d74ba8..0c3a9cc6a 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -3,7 +3,6 @@ realsense2_camera 2.2.23 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras - Sergey Dorodnicov Doron Hirshberg Apache 2.0 diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml index 9a70d918c..30b0ba9d2 100644 --- a/realsense2_description/package.xml +++ b/realsense2_description/package.xml @@ -3,7 +3,6 @@ realsense2_description 2.2.23 RealSense Camera description package for Intel 3D D400 cameras - Sergey Dorodnicov Doron Hirshberg Apache 2.0 From 1aa9422b8d9f727adbeb950e28076c0df5e95d06 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 21 Apr 2021 23:52:04 -0700 Subject: [PATCH 39/94] 2.2.24 --- realsense2_camera/CHANGELOG.rst | 4 ++-- realsense2_camera/package.xml | 2 +- realsense2_description/CHANGELOG.rst | 4 ++-- realsense2_description/package.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index a4ea18157..c0740b6b3 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.2.24 (2021-04-21) +------------------- * Enabling pointcloud while align_depth is set to true creates a pointcloud aligned to color image. * Removed option to align depth to other streams other then color. * Contributors: doronhi diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index 0c3a9cc6a..3d75ca046 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -1,7 +1,7 @@ realsense2_camera - 2.2.23 + 2.2.24 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras Doron Hirshberg Apache 2.0 diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index 6e125a75b..d336385f1 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.2.24 (2021-04-21) +------------------- * Add conditional param use_mesh. * Contributors: Teo Cardoso diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml index 30b0ba9d2..5a3c6660b 100644 --- a/realsense2_description/package.xml +++ b/realsense2_description/package.xml @@ -1,7 +1,7 @@ realsense2_description - 2.2.23 + 2.2.24 RealSense Camera description package for Intel 3D D400 cameras Doron Hirshberg Apache 2.0 From adaf1fb0f6aa0d4f8d05b5308f33b256c29b5645 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 22 Apr 2021 12:58:45 +0300 Subject: [PATCH 40/94] fixed README.md reference from librealsense-dkms to librealsense2-dkms --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index ba4d020bd..cb2e88911 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ This version supports Kinetic, Melodic and Noetic distributions. For running in ROS2 environment please switch to the [ros2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2).
-LibRealSense supported version: v2.44.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) +LibRealSense2 supported version: v2.44.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) ## Installation Instructions @@ -63,7 +63,7 @@ LibRealSense supported version: v2.44.0 (see [realsense2_camera release notes](h *Ubuntu* * Install from [Debian Package](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) - - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense-dkms packages. + - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense2-dkms packages. *Windows* Install using vcpkg From ba0e311b6539e19c7d81b1a151e60ed21c0d57f1 Mon Sep 17 00:00:00 2001 From: tkazik Date: Thu, 29 Apr 2021 19:13:17 +0200 Subject: [PATCH 41/94] use ROS_DISTRO env variable --- README.md | 18 ++---------------- 1 file changed, 2 insertions(+), 16 deletions(-) diff --git a/README.md b/README.md index cb2e88911..24fb3c314 100644 --- a/README.md +++ b/README.md @@ -26,21 +26,7 @@ LibRealSense2 supported version: v2.44.0 (see [realsense2_camera release notes]( realsense2_camera is available as a debian package of ROS distribution. It can be installed by typing: - ``` - export ROS_VER=kinetic - ``` - or - ``` - export ROS_VER=melodic - ``` - or - ``` - export ROS_VER=noetic - ``` - - Then install the ros packages using the environment variable created above: - - ```sudo apt-get install ros-$ROS_VER-realsense2-camera``` + ```sudo apt-get install ros-$ROS_DISTRO-realsense2-camera``` This will install both realsense2_camera and its dependents, including librealsense2 library. @@ -48,7 +34,7 @@ LibRealSense2 supported version: v2.44.0 (see [realsense2_camera release notes]( * The version of librealsense2 is almost always behind the one availeable in RealSense™ official repository. * librealsense2 is not built to use native v4l2 driver but the less stable RS-USB protocol. That is because the last is more general and operational on a larger variety of platforms. * realsense2_description is available as a separate debian package of ROS distribution. It includes the 3D-models of the devices and is necessary for running launch files that include these models (i.e. rs_d435_camera_with_model.launch). It can be installed by typing: - `sudo apt-get install ros-$ROS_VER-realsense2-description` + `sudo apt-get install ros-$ROS_DISTRO-realsense2-description` *Windows* From 805d1b37346b47f67131b77450e14a6a522935fc Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 2 May 2021 10:36:07 +0300 Subject: [PATCH 42/94] Generalize solution to all stereo sensors (fisheye) Remove updateExtrinsicsCalibData function. --- .../include/base_realsense_node.h | 1 - realsense2_camera/src/base_realsense_node.cpp | 76 ++----------------- 2 files changed, 8 insertions(+), 69 deletions(-) diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index 82f2e6be3..b1d298c7a 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -203,7 +203,6 @@ namespace realsense2_camera cv::Mat& fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image); void clip_depth(rs2::depth_frame depth_frame, float clipping_dist); void updateStreamCalibData(const rs2::video_stream_profile& video_profile); - void updateExtrinsicsCalibData(const rs2::video_stream_profile& left_video_profile, const rs2::video_stream_profile& right_video_profile); void SetBaseStream(); void publishStaticTransforms(); void publishDynamicTransforms(); diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index c6d363d59..0eb521373 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1812,9 +1812,6 @@ void BaseRealSenseNode::setupStreams() { ROS_INFO("setupStreams..."); try{ - std::shared_ptr left_profile; - std::shared_ptr right_profile; - // Publish image stream info for (auto& profiles : _enabled_profiles) { @@ -1824,18 +1821,10 @@ void BaseRealSenseNode::setupStreams() { auto video_profile = profile.as(); updateStreamCalibData(video_profile); - - // stream index: 1=left, 2=right - if (video_profile.stream_index() == 1) { left_profile = std::make_shared(video_profile); } - if (video_profile.stream_index() == 2) { right_profile = std::make_shared(video_profile); } } } } - if (left_profile && right_profile) { - updateExtrinsicsCalibData(*left_profile, *right_profile); - } - // Streaming IMAGES std::map > profiles; std::map active_sensors; @@ -1903,11 +1892,15 @@ void BaseRealSenseNode::updateStreamCalibData(const rs2::video_stream_profile& v _camera_info[stream_index].P.at(11) = 0; // Set Tx, Ty for right camera - if (stream_index == INFRA2 && _enable[INFRA1]) + if (stream_index.second == 2) { - const auto& ex = getAProfile(INFRA2).get_extrinsics_to(getAProfile(INFRA1)); - _camera_info[stream_index].P.at(3) = -intrinsic.fx * ex.translation[0]; // Tx - _camera_info[stream_index].P.at(7) = -intrinsic.fy * ex.translation[1]; // Ty + stream_index_pair sip1{stream_index.first, 1}; + if (_enable[sip1]) + { + const auto& ex = getAProfile(stream_index).get_extrinsics_to(getAProfile(sip1)); + _camera_info[stream_index].P.at(3) = -intrinsic.fx * ex.translation[0] + 0.0; // Tx - avoid -0.0 values. + _camera_info[stream_index].P.at(7) = -intrinsic.fy * ex.translation[1] + 0.0; // Ty - avoid -0.0 values. + } } if (intrinsic.model == RS2_DISTORTION_KANNALA_BRANDT4) @@ -1954,59 +1947,6 @@ void BaseRealSenseNode::updateStreamCalibData(const rs2::video_stream_profile& v } } -void BaseRealSenseNode::updateExtrinsicsCalibData(const rs2::video_stream_profile& left_video_profile, const rs2::video_stream_profile& right_video_profile) -{ - stream_index_pair left{left_video_profile.stream_type(), left_video_profile.stream_index()}; - stream_index_pair right{right_video_profile.stream_type(), right_video_profile.stream_index()}; - - // Get the relative extrinsics between the left and right camera - auto LEFT_T_RIGHT = right_video_profile.get_extrinsics_to(left_video_profile); - - auto R = Eigen::Map>(LEFT_T_RIGHT.rotation); - auto T = Eigen::Map>(LEFT_T_RIGHT.translation); - - // force y- and z-axis components to be 0 (but do we also need to force P(0,3) and P(1,3) to be 0?) - T[1] = 0; - T[2] = 0; - - Eigen::Matrix RT; - RT << R, T; - - auto K_right = Eigen::Map>(_camera_info[right].K.data()); - - // Compute Projection matrix for the right camera - auto P_right = K_right.cast() * RT; - - // Note that all matrices are stored in row-major format - // 1. Leave the left rotation matrix as identity - // 2. Set the right rotation matrix - _camera_info[right].R.at(0) = LEFT_T_RIGHT.rotation[0]; - _camera_info[right].R.at(1) = LEFT_T_RIGHT.rotation[1]; - _camera_info[right].R.at(2) = LEFT_T_RIGHT.rotation[2]; - _camera_info[right].R.at(3) = LEFT_T_RIGHT.rotation[3]; - _camera_info[right].R.at(4) = LEFT_T_RIGHT.rotation[4]; - _camera_info[right].R.at(5) = LEFT_T_RIGHT.rotation[5]; - _camera_info[right].R.at(6) = LEFT_T_RIGHT.rotation[6]; - _camera_info[right].R.at(7) = LEFT_T_RIGHT.rotation[7]; - _camera_info[right].R.at(8) = LEFT_T_RIGHT.rotation[8]; - - // 3. Leave the left projection matrix - // 4. Set the right projection matrix - _camera_info[right].P.at(0) = P_right(0,0); - _camera_info[right].P.at(1) = P_right(0,1); - _camera_info[right].P.at(2) = P_right(0,2); - _camera_info[right].P.at(3) = P_right(0,3); - _camera_info[right].P.at(4) = P_right(1,0); - _camera_info[right].P.at(5) = P_right(1,1); - _camera_info[right].P.at(6) = P_right(1,2); - _camera_info[right].P.at(7) = P_right(1,3); - _camera_info[right].P.at(8) = P_right(2,0); - _camera_info[right].P.at(9) = P_right(2,1); - _camera_info[right].P.at(10) = P_right(2,2); - _camera_info[right].P.at(11) = P_right(2,3); - -} - tf::Quaternion BaseRealSenseNode::rotationMatrixToQuaternion(const float rotation[9]) const { Eigen::Matrix3f m; From 95c72c36d960964993f1d7448ccd307fafe81f20 Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 2 May 2021 10:51:56 +0300 Subject: [PATCH 43/94] Fixed frame_id of right sensor to match left sensor in a stereo pair.pair Based on suggestion by @pavloblindnology (https://github.com/IntelRealSense/realsense-ros/pull/1242#issuecomment-785778234) --- .../include/base_realsense_node.h | 1 - realsense2_camera/src/base_realsense_node.cpp | 30 +++++++++---------- 2 files changed, 15 insertions(+), 16 deletions(-) diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index b1d298c7a..42b2d2c43 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -219,7 +219,6 @@ namespace realsense2_camera const std::map& image_publishers, std::map& seq, std::map& camera_info, - const std::map& optical_frame_id, const std::map& encoding, bool copy_data_from_frame = true); bool getEnabledProfile(const stream_index_pair& stream_index, rs2::stream_profile& profile); diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 0eb521373..267521b30 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1702,7 +1702,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) _depth_aligned_image, _depth_aligned_info_publisher, _depth_aligned_image_publishers, _depth_aligned_seq, - _depth_aligned_camera_info, _optical_frame_id, + _depth_aligned_camera_info, _depth_aligned_encoding); continue; } @@ -1712,7 +1712,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) _image, _info_publisher, _image_publishers, _seq, - _camera_info, _optical_frame_id, + _camera_info, _encoding); } if (original_depth_frame && _align_depth) @@ -1728,7 +1728,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) _image, _info_publisher, _image_publishers, _seq, - _camera_info, _optical_frame_id, + _camera_info, _encoding); } } @@ -1753,7 +1753,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) _image, _info_publisher, _image_publishers, _seq, - _camera_info, _optical_frame_id, + _camera_info, _encoding); } } @@ -1898,6 +1898,7 @@ void BaseRealSenseNode::updateStreamCalibData(const rs2::video_stream_profile& v if (_enable[sip1]) { const auto& ex = getAProfile(stream_index).get_extrinsics_to(getAProfile(sip1)); + _camera_info[stream_index].header.frame_id = _optical_frame_id[sip1]; _camera_info[stream_index].P.at(3) = -intrinsic.fx * ex.translation[0] + 0.0; // Tx - avoid -0.0 values. _camera_info[stream_index].P.at(7) = -intrinsic.fy * ex.translation[1] + 0.0; // Ty - avoid -0.0 values. } @@ -2350,7 +2351,6 @@ void BaseRealSenseNode::publishFrame(rs2::frame f, const ros::Time& t, const std::map& image_publishers, std::map& seq, std::map& camera_info, - const std::map& optical_frame_id, const std::map& encoding, bool copy_data_from_frame) { @@ -2388,16 +2388,6 @@ void BaseRealSenseNode::publishFrame(rs2::frame f, const ros::Time& t, if(0 != info_publisher.getNumSubscribers() || 0 != image_publisher.first.getNumSubscribers()) { - sensor_msgs::ImagePtr img; - img = cv_bridge::CvImage(std_msgs::Header(), encoding.at(stream.first), image).toImageMsg(); - img->width = width; - img->height = height; - img->is_bigendian = false; - img->step = width * bpp; - img->header.frame_id = optical_frame_id.at(stream); - img->header.stamp = t; - img->header.seq = seq[stream]; - auto& cam_info = camera_info.at(stream); if (cam_info.width != width) { @@ -2407,6 +2397,16 @@ void BaseRealSenseNode::publishFrame(rs2::frame f, const ros::Time& t, cam_info.header.seq = seq[stream]; info_publisher.publish(cam_info); + sensor_msgs::ImagePtr img; + img = cv_bridge::CvImage(std_msgs::Header(), encoding.at(stream.first), image).toImageMsg(); + img->width = width; + img->height = height; + img->is_bigendian = false; + img->step = width * bpp; + img->header.frame_id = cam_info.header.frame_id; + img->header.stamp = t; + img->header.seq = seq[stream]; + image_publisher.first.publish(img); // ROS_INFO_STREAM("fid: " << cam_info.header.seq << ", time: " << std::setprecision (20) << t.toSec()); ROS_DEBUG("%s stream published", rs2_stream_to_string(f.get_profile().stream_type())); From 1d5f09776e096a35e527562aca2204d1a5a0c9e2 Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 2 May 2021 12:33:22 +0300 Subject: [PATCH 44/94] Fix pointcloud message size when no texture is added. --- realsense2_camera/src/base_realsense_node.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 267521b30..45846dc17 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -2255,7 +2255,6 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co else { std::string format_str = "intensity"; - _msg_pointcloud.point_step = addPointField(_msg_pointcloud, format_str.c_str(), 1, sensor_msgs::PointField::FLOAT32, _msg_pointcloud.point_step); _msg_pointcloud.row_step = _msg_pointcloud.width * _msg_pointcloud.point_step; _msg_pointcloud.data.resize(_msg_pointcloud.height * _msg_pointcloud.row_step); From 49be72521a2526a619b748ca48804a47c6358b98 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 5 May 2021 14:00:12 +0300 Subject: [PATCH 45/94] Update README.md with service "enable" --- README.md | 1 + realsense2_camera/src/base_realsense_node.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 24fb3c314..9bcca40b9 100644 --- a/README.md +++ b/README.md @@ -150,6 +150,7 @@ If using D435 or D415, the gyro and accel topics wont be available. Likewise, ot ### Available services: - reset : Cause a hardware reset of the device. Usage: `rosservice call /camera/realsense2_camera/reset` +- enable : Start/Stop all streaming sensors. Usage example: `rosservice call /camera/enable False"` ### Launch parameters The following parameters are available by the wrapper: diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 45846dc17..f91850077 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -932,7 +932,7 @@ void BaseRealSenseNode::setupDevice() ros::shutdown(); exit(1); } - ROS_INFO_STREAM(std::string(sensor.get_info(RS2_CAMERA_INFO_NAME)) << " was found."); + ROS_INFO_STREAM(module_name << " was found."); } // Update "enable" map From 8d327796f2ab1c76763cccb0f633f53eecbf5e82 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 5 May 2021 14:47:37 +0300 Subject: [PATCH 46/94] bump version to 2.3.0 --- README.md | 4 ++-- realsense2_camera/CHANGELOG.rst | 7 +++++++ realsense2_camera/CMakeLists.txt | 2 +- realsense2_camera/include/constants.h | 4 ++-- realsense2_description/CHANGELOG.rst | 3 +++ 5 files changed, 15 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 9bcca40b9..720296ad9 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ This version supports Kinetic, Melodic and Noetic distributions. For running in ROS2 environment please switch to the [ros2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2).
-LibRealSense2 supported version: v2.44.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) +LibRealSense2 supported version: v2.45.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) ## Installation Instructions @@ -57,7 +57,7 @@ LibRealSense2 supported version: v2.44.0 (see [realsense2_camera release notes]( `vcpkg install realsense2:x64-windows` #### OR - - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.44.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) + - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.45.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) ### Step 2: Install Intel® RealSense™ ROS from Sources diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index c0740b6b3..c4d89880a 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix pointcloud message size when no texture is added. +* Added filling correct Tx, Ty values in projection matrix of right camera. +* Fixed frame_id of right sensor to match left sensor in a stereo pair.pair +* Contributors: Pavlo Kolomiiets, doronhi + 2.2.24 (2021-04-21) ------------------- * Enabling pointcloud while align_depth is set to true creates a pointcloud aligned to color image. diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index 06ee1fb9d..6b982fe68 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -41,7 +41,7 @@ endif() if (WIN32) find_package(realsense2 CONFIG REQUIRED) else() -find_package(realsense2 2.44.0) +find_package(realsense2 2.45.0) endif() if(NOT realsense2_FOUND) diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index 1b809f0cd..51b389293 100644 --- a/realsense2_camera/include/constants.h +++ b/realsense2_camera/include/constants.h @@ -6,8 +6,8 @@ #include #define REALSENSE_ROS_MAJOR_VERSION 2 -#define REALSENSE_ROS_MINOR_VERSION 2 -#define REALSENSE_ROS_PATCH_VERSION 24 +#define REALSENSE_ROS_MINOR_VERSION 3 +#define REALSENSE_ROS_PATCH_VERSION 0 #define STRINGIFY(arg) #arg #define VAR_ARG_STRING(arg) STRINGIFY(arg) diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index d336385f1..e066ff477 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 2.2.24 (2021-04-21) ------------------- * Add conditional param use_mesh. From 579a465a7dece96c514d1258ef0960e6de461422 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 5 May 2021 14:51:46 +0300 Subject: [PATCH 47/94] 2.3.0 --- realsense2_camera/CHANGELOG.rst | 4 ++-- realsense2_camera/package.xml | 2 +- realsense2_description/CHANGELOG.rst | 4 ++-- realsense2_description/package.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index c4d89880a..824bef822 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.3.0 (2021-05-05) +------------------ * Fix pointcloud message size when no texture is added. * Added filling correct Tx, Ty values in projection matrix of right camera. * Fixed frame_id of right sensor to match left sensor in a stereo pair.pair diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index 3d75ca046..c208694a1 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -1,7 +1,7 @@ realsense2_camera - 2.2.24 + 2.3.0 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras Doron Hirshberg Apache 2.0 diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index e066ff477..9f64c6f9b 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.3.0 (2021-05-05) +------------------ 2.2.24 (2021-04-21) ------------------- diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml index 5a3c6660b..92da8fe75 100644 --- a/realsense2_description/package.xml +++ b/realsense2_description/package.xml @@ -1,7 +1,7 @@ realsense2_description - 2.2.24 + 2.3.0 RealSense Camera description package for Intel 3D D400 cameras Doron Hirshberg Apache 2.0 From baaf18461d6b1d3040d2aa4107349f1ded11e2fa Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 12 May 2021 10:45:44 +0300 Subject: [PATCH 48/94] Update path in README.md for test bag files. --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 720296ad9..7fb040996 100644 --- a/README.md +++ b/README.md @@ -293,8 +293,8 @@ roslaunch realsense2_description view_d415_model.launch Unit-tests are based on bag files saved on S3 server. These can be downloaded using the following commands: ```bash cd catkin_ws -wget "http://realsense-hw-public.s3.amazonaws.com/rs-tests/TestData/outdoors.bag" -P "records/" -wget "http://realsense-hw-public.s3-eu-west-1.amazonaws.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag" -P "records/" +wget "https://librealsense.intel.com/rs-tests/TestData/outdoors.bag" -P "records/" +wget "https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag" -P "records/" ``` Then, unit-tests can be run using the following command (use either python or python3): ```bash From 2d158aad1481c457a6ad667b9608231072cb5821 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 13 May 2021 10:06:06 +0300 Subject: [PATCH 49/94] Add udev-rules installation to debian --- realsense2_camera/debian/udev.em | 76 ++++++++++++++++++++++++++++++++ 1 file changed, 76 insertions(+) create mode 100644 realsense2_camera/debian/udev.em diff --git a/realsense2_camera/debian/udev.em b/realsense2_camera/debian/udev.em new file mode 100644 index 000000000..94ca643c2 --- /dev/null +++ b/realsense2_camera/debian/udev.em @@ -0,0 +1,76 @@ +##Version=1.1## +# Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200) +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a66", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0abf", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0acb", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad0", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="04b4", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad1", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad4", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad6", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af6", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b03", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b07", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0c", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b48", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b49", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0666", GROUP:="plugdev" + +# Intel RealSense recovery devices (DFU) +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adb", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adc", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b55", MODE:="0666", GROUP:="plugdev" + +# Intel RealSense devices (Movidius, T265) +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0af3", MODE="0666", GROUP="plugdev" +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0b37", MODE="0666", GROUP="plugdev" +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="03e7", ATTRS{idProduct}=="2150", MODE="0666", GROUP="plugdev" + +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" + +# For products with motion_module, if (kernels is 4.15 and up) and (device name is "accel_3d") wait, in another process, until (enable flag is set to 1 or 200 mSec passed) and then set it to 0. +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b64", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $major -eq 4 ] && [ $minor -ge 15 ]) || [ $major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$COUNTER -lt 20 ] && grep -q 0 $enfile; do sleep 0.01; COUNTER=\$((COUNTER+1)); done && echo 0 > $enfile\" | at now'" From eed336efa1708313dbf4a41437c8f1e1694cd848 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 13 May 2021 13:48:58 +0300 Subject: [PATCH 50/94] Add notice regarding the udev-rules in the README.md file. --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 7fb040996..ae023bf39 100644 --- a/README.md +++ b/README.md @@ -28,7 +28,7 @@ LibRealSense2 supported version: v2.45.0 (see [realsense2_camera release notes]( ```sudo apt-get install ros-$ROS_DISTRO-realsense2-camera``` - This will install both realsense2_camera and its dependents, including librealsense2 library. + This will install both realsense2_camera and its dependents, including librealsense2 library and matching udev-rules. Notice: * The version of librealsense2 is almost always behind the one availeable in RealSense™ official repository. From b4cdae677b54d68be61381d01e072bc43f520206 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 19 May 2021 09:28:51 +0300 Subject: [PATCH 51/94] Fix occasional missing diagnostic messages due to ROS traffic issues. Solution is based on @g-gemignani at https://github.com/ros/diagnostics/issues/195#issuecomment-830818432 --- realsense2_camera/src/base_realsense_node.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index f91850077..b654fc3bc 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -2472,9 +2472,11 @@ void BaseRealSenseNode::publish_temperature() void BaseRealSenseNode::publish_frequency_update() { + std::chrono::milliseconds timespan(1); for (auto &image_publisher : _image_publishers) { image_publisher.second.second->update(); + std::this_thread::sleep_for(timespan); } } From eb74705a2328e4389400a3ff669f158310ec1de1 Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 6 Jun 2021 15:19:11 +0300 Subject: [PATCH 52/94] Add support for L535 --- realsense2_camera/include/constants.h | 1 + realsense2_camera/src/realsense_node_factory.cpp | 1 + 2 files changed, 2 insertions(+) diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index 51b389293..dcc469da2 100644 --- a/realsense2_camera/include/constants.h +++ b/realsense2_camera/include/constants.h @@ -39,6 +39,7 @@ namespace realsense2_camera const uint16_t RS_T265_PID = 0x0b37; // const uint16_t RS_L515_PID_PRE_PRQ = 0x0B3D; // const uint16_t RS_L515_PID = 0x0B64; // + const uint16_t RS_L535_PID = 0x0b68; const bool ALIGN_DEPTH = false; diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index 973c81074..56edc3e6c 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -355,6 +355,7 @@ void RealSenseNodeFactory::StartDevice() case RS_USB2_PID: case RS_L515_PID_PRE_PRQ: case RS_L515_PID: + case RS_L535_PID: _realSenseNode = std::shared_ptr(new BaseRealSenseNode(nh, privateNh, _device, _serial_no)); break; case RS_T265_PID: From b78df96ed8815df8b6be0c48fe8b349b383563b4 Mon Sep 17 00:00:00 2001 From: Simon Honigmann Date: Sun, 20 Jun 2021 11:05:27 -0700 Subject: [PATCH 53/94] add imu frames to _l515.urdf.xacro --- realsense2_description/urdf/_l515.urdf.xacro | 42 +++++++++++++++++++- 1 file changed, 41 insertions(+), 1 deletion(-) diff --git a/realsense2_description/urdf/_l515.urdf.xacro b/realsense2_description/urdf/_l515.urdf.xacro index 72b938f00..5d4da9b79 100644 --- a/realsense2_description/urdf/_l515.urdf.xacro +++ b/realsense2_description/urdf/_l515.urdf.xacro @@ -32,7 +32,7 @@ aluminum peripherial evaluation case. - @@ -44,6 +44,16 @@ aluminum peripherial evaluation case. + + + + + + + + + + @@ -150,6 +160,36 @@ aluminum peripherial evaluation case. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 45f5d54fd51c1cf543e5822c61d9978ad84d8dcb Mon Sep 17 00:00:00 2001 From: doronhi Date: Tue, 22 Jun 2021 09:55:52 +0300 Subject: [PATCH 54/94] Update README.md - link to Jetson librealsense2 installation guide. --- README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 7fb040996..39c313348 100644 --- a/README.md +++ b/README.md @@ -47,8 +47,10 @@ LibRealSense2 supported version: v2.45.0 (see [realsense2_camera release notes]( ### Step 1: Install the latest Intel® RealSense™ SDK 2.0 *Ubuntu* - - * Install from [Debian Package](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) + + Install librealsense2 debian package: + * Jetson users - use the [Jetson Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md) + * Otherwise, install from [Linux Debian Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense2-dkms packages. *Windows* From eff203d979d6a39648db16c0d5e9b1a36e0f6d6c Mon Sep 17 00:00:00 2001 From: doronhi Date: Tue, 29 Jun 2021 14:30:02 +0300 Subject: [PATCH 55/94] update udev.em --- realsense2_camera/debian/udev.em | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/realsense2_camera/debian/udev.em b/realsense2_camera/debian/udev.em index 94ca643c2..ca9dd16dc 100644 --- a/realsense2_camera/debian/udev.em +++ b/realsense2_camera/debian/udev.em @@ -2,6 +2,8 @@ # Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200) SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a66", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa2", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0abf", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0acb", MODE:="0666", GROUP:="plugdev" @@ -33,6 +35,7 @@ SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="066 SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev" SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0666", GROUP:="plugdev" # Intel RealSense recovery devices (DFU) SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev" @@ -71,6 +74,8 @@ KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" # For products with motion_module, if (kernels is 4.15 and up) and (device name is "accel_3d") wait, in another process, until (enable flag is set to 1 or 200 mSec passed) and then set it to 0. -KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b64", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $major -eq 4 ] && [ $minor -ge 15 ]) || [ $major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$COUNTER -lt 20 ] && grep -q 0 $enfile; do sleep 0.01; COUNTER=\$((COUNTER+1)); done && echo 0 > $enfile\" | at now'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b64|0b68", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $major -eq 4 ] && [ $minor -ge 15 ]) || [ $major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$COUNTER -lt 20 ] && grep -q 0 $enfile; do sleep 0.01; COUNTER=\$((COUNTER+1)); done && echo 0 > $enfile\" | at now'" From 23b0caaed7cbfdababbfff37826e77f4e37efa94 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 30 Jun 2021 14:06:04 +0300 Subject: [PATCH 56/94] add respawn option to nodelet.launch.xml --- realsense2_camera/launch/includes/nodelet.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/realsense2_camera/launch/includes/nodelet.launch.xml b/realsense2_camera/launch/includes/nodelet.launch.xml index 34f9b29c8..98d52bcb9 100644 --- a/realsense2_camera/launch/includes/nodelet.launch.xml +++ b/realsense2_camera/launch/includes/nodelet.launch.xml @@ -108,8 +108,8 @@ - - + + From cbdb44648ddbaa82cadcb53dc6436bd259a57e91 Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 30 Jun 2021 15:02:29 +0300 Subject: [PATCH 57/94] add respawn option to rs_camera.launch --- realsense2_camera/launch/rs_camera.launch | 2 ++ 1 file changed, 2 insertions(+) diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch index 52e02e826..534bc0671 100644 --- a/realsense2_camera/launch/rs_camera.launch +++ b/realsense2_camera/launch/rs_camera.launch @@ -8,6 +8,7 @@ + @@ -76,6 +77,7 @@ + From d161d2158c70f83c0456eadeaea95101dc54116e Mon Sep 17 00:00:00 2001 From: doronhi Date: Wed, 30 Jun 2021 15:26:40 +0300 Subject: [PATCH 58/94] bump version to 2.3.1 --- README.md | 4 ++-- realsense2_camera/CHANGELOG.rst | 8 ++++++++ realsense2_camera/CMakeLists.txt | 2 +- realsense2_camera/include/constants.h | 2 +- realsense2_description/CHANGELOG.rst | 5 +++++ 5 files changed, 17 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 14f92a72f..a9e076d1b 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ This version supports Kinetic, Melodic and Noetic distributions. For running in ROS2 environment please switch to the [ros2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2).
-LibRealSense2 supported version: v2.45.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) +LibRealSense2 supported version: v2.48.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) ## Installation Instructions @@ -59,7 +59,7 @@ LibRealSense2 supported version: v2.45.0 (see [realsense2_camera release notes]( `vcpkg install realsense2:x64-windows` #### OR - - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.45.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) + - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.48.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) ### Step 2: Install Intel® RealSense™ ROS from Sources diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index 824bef822..ba1c12ff5 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,6 +2,14 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* add respawn option +* add udev rules to debian installation +* Add support for L535 +* Fix occasional missing diagnostic messages +* Contributors: Alex Fernandes Neves, doronhi + 2.3.0 (2021-05-05) ------------------ * Fix pointcloud message size when no texture is added. diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index 6b982fe68..e882ee662 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -41,7 +41,7 @@ endif() if (WIN32) find_package(realsense2 CONFIG REQUIRED) else() -find_package(realsense2 2.45.0) +find_package(realsense2 2.48.0) endif() if(NOT realsense2_FOUND) diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index dcc469da2..16455a670 100644 --- a/realsense2_camera/include/constants.h +++ b/realsense2_camera/include/constants.h @@ -7,7 +7,7 @@ #define REALSENSE_ROS_MAJOR_VERSION 2 #define REALSENSE_ROS_MINOR_VERSION 3 -#define REALSENSE_ROS_PATCH_VERSION 0 +#define REALSENSE_ROS_PATCH_VERSION 1 #define STRINGIFY(arg) #arg #define VAR_ARG_STRING(arg) STRINGIFY(arg) diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index 9f64c6f9b..fe3aa800c 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* add imu frames to _l515.urdf.xacro +* Contributors: Simon Honigmann, doronhi + 2.3.0 (2021-05-05) ------------------ From 09a263a311542b6521f0389490b6df4484b18191 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 1 Jul 2021 09:07:38 +0300 Subject: [PATCH 59/94] 2.3.1 --- realsense2_camera/CHANGELOG.rst | 4 ++-- realsense2_camera/package.xml | 2 +- realsense2_description/CHANGELOG.rst | 4 ++-- realsense2_description/package.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index ba1c12ff5..45e7a33c0 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.3.1 (2021-07-01) +------------------ * add respawn option * add udev rules to debian installation * Add support for L535 diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index c208694a1..687ad4cd7 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -1,7 +1,7 @@ realsense2_camera - 2.3.0 + 2.3.1 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras Doron Hirshberg Apache 2.0 diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index fe3aa800c..e936633cb 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.3.1 (2021-07-01) +------------------ * add imu frames to _l515.urdf.xacro * Contributors: Simon Honigmann, doronhi diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml index 92da8fe75..a593eeabd 100644 --- a/realsense2_description/package.xml +++ b/realsense2_description/package.xml @@ -1,7 +1,7 @@ realsense2_description - 2.3.0 + 2.3.1 RealSense Camera description package for Intel 3D D400 cameras Doron Hirshberg Apache 2.0 From 5abef62eb2240a8f47c658a63174c19d98106408 Mon Sep 17 00:00:00 2001 From: Gintaras Date: Tue, 20 Jul 2021 15:22:52 +0300 Subject: [PATCH 60/94] Removing spaces when iterating filters Issue #1966 --- realsense2_camera/src/base_realsense_node.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index b654fc3bc..83bff4801 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1184,8 +1184,10 @@ void BaseRealSenseNode::setupFilters() bool use_colorizer_filter(false); bool use_decimation_filter(false); bool use_hdr_filter(false); - for (std::vector::const_iterator s_iter=filters_str.begin(); s_iter!=filters_str.end(); s_iter++) + for (std::vector::iterator s_iter=filters_str.begin(); s_iter!=filters_str.end(); s_iter++) { + (*s_iter).erase(std::remove_if((*s_iter).begin(), (*s_iter).end(), isspace), (*s_iter).end()); // Remove spaces + if ((*s_iter) == "colorizer") { use_colorizer_filter = true; From 7818fdd355891009891f51fee58dc3ac4ad82014 Mon Sep 17 00:00:00 2001 From: Collin Avidano Date: Tue, 3 Aug 2021 19:22:11 -0400 Subject: [PATCH 61/94] Only send the number of parameters that this type of distortion needs as to not break rectification packages who often treat the message as a const ptr --- realsense2_camera/src/base_realsense_node.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 83bff4801..f36525e13 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1924,8 +1924,9 @@ void BaseRealSenseNode::updateStreamCalibData(const rs2::video_stream_profile& v _camera_info[stream_index].R.at(7) = 0.0; _camera_info[stream_index].R.at(8) = 1.0; - _camera_info[stream_index].D.resize(5); - for (int i = 0; i < 5; i++) + int coeff_size = (intrinsic.model == RS2_DISTORTION_KANNALA_BRANDT4) ? 4 : 5; + _camera_info[stream_index].D.resize(coeff_size); + for (int i = 0; i < coeff_size; i++) { _camera_info[stream_index].D.at(i) = intrinsic.coeffs[i]; } From 00d4d139f91dbf2174f203c7e217dbe147b46b6b Mon Sep 17 00:00:00 2001 From: Jacco van der Spek Date: Tue, 10 Aug 2021 09:36:36 +0200 Subject: [PATCH 62/94] chore(realsense2_camera): make reconnect timeout a parameter --- README.md | 1 + realsense2_camera/launch/includes/nodelet.launch.xml | 2 ++ realsense2_camera/launch/rs_camera.launch | 2 ++ realsense2_camera/launch/rs_d400_and_t265.launch | 3 +++ realsense2_camera/launch/rs_d435_camera_with_model.launch | 2 ++ realsense2_camera/launch/rs_multiple_devices.launch | 4 ++++ realsense2_camera/launch/rs_t265.launch | 2 ++ realsense2_camera/src/realsense_node_factory.cpp | 4 +++- 8 files changed, 19 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index a9e076d1b..98eeb0699 100644 --- a/README.md +++ b/README.md @@ -162,6 +162,7 @@ The following parameters are available by the wrapper: - **rosbag_filename**: Will publish topics from rosbag file. - **initial_reset**: On occasions the device was not closed properly and due to firmware issues needs to reset. If set to true, the device will reset prior to usage. +- **reconnect_timeout**: When the driver cannot connect to the device try to reconnect after this timeout (in seconds). - **align_depth**: If set to true, will publish additional topics for the "aligned depth to color" image.: ```/camera/aligned_depth_to_color/image_raw```, ```/camera/aligned_depth_to_color/camera_info```.
The pointcloud, if enabled, will be built based on the aligned_depth_to_color image.
- **filters**: any of the following options, separated by commas:
diff --git a/realsense2_camera/launch/includes/nodelet.launch.xml b/realsense2_camera/launch/includes/nodelet.launch.xml index 98d52bcb9..3f292d2b0 100644 --- a/realsense2_camera/launch/includes/nodelet.launch.xml +++ b/realsense2_camera/launch/includes/nodelet.launch.xml @@ -104,6 +104,7 @@ + @@ -208,6 +209,7 @@ + diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch index 534bc0671..c70cbfefe 100644 --- a/realsense2_camera/launch/rs_camera.launch +++ b/realsense2_camera/launch/rs_camera.launch @@ -59,6 +59,7 @@ + @@ -129,6 +130,7 @@ + diff --git a/realsense2_camera/launch/rs_d400_and_t265.launch b/realsense2_camera/launch/rs_d400_and_t265.launch index 11d0557b7..32b35ae40 100644 --- a/realsense2_camera/launch/rs_d400_and_t265.launch +++ b/realsense2_camera/launch/rs_d400_and_t265.launch @@ -8,6 +8,7 @@ + @@ -23,6 +24,7 @@ + @@ -37,6 +39,7 @@ + diff --git a/realsense2_camera/launch/rs_d435_camera_with_model.launch b/realsense2_camera/launch/rs_d435_camera_with_model.launch index 4e41790f1..98404d08f 100644 --- a/realsense2_camera/launch/rs_d435_camera_with_model.launch +++ b/realsense2_camera/launch/rs_d435_camera_with_model.launch @@ -43,6 +43,7 @@ + @@ -93,6 +94,7 @@ + diff --git a/realsense2_camera/launch/rs_multiple_devices.launch b/realsense2_camera/launch/rs_multiple_devices.launch index 20ef3cf24..a7f4ada0f 100644 --- a/realsense2_camera/launch/rs_multiple_devices.launch +++ b/realsense2_camera/launch/rs_multiple_devices.launch @@ -9,12 +9,14 @@ + + @@ -23,6 +25,7 @@ + @@ -31,6 +34,7 @@ + diff --git a/realsense2_camera/launch/rs_t265.launch b/realsense2_camera/launch/rs_t265.launch index 1c2e9a57c..16712962f 100644 --- a/realsense2_camera/launch/rs_t265.launch +++ b/realsense2_camera/launch/rs_t265.launch @@ -29,6 +29,7 @@ https://github.com/IntelRealSense/librealsense/blob/master/third-party/libtm/lib + @@ -57,6 +58,7 @@ https://github.com/IntelRealSense/librealsense/blob/master/third-party/libtm/lib + diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index 56edc3e6c..e63675e4d 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -290,7 +290,9 @@ void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored) _is_alive = true; _query_thread = std::thread([=]() { - std::chrono::milliseconds timespan(6000); + int reconnect_timeout; + privateNh.param("reconnect_timeout", reconnect_timeout, 6); + std::chrono::seconds timespan(reconnect_timeout); while (_is_alive && !_device) { getDevice(_ctx.query_devices()); From f9e6ac0e61bc0a84d5ab259e43108ae12a58f36a Mon Sep 17 00:00:00 2001 From: Jacco van der Spek Date: Tue, 10 Aug 2021 10:20:15 +0200 Subject: [PATCH 63/94] change indent to tabs --- realsense2_camera/src/realsense_node_factory.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index e63675e4d..24570c900 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -290,9 +290,9 @@ void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored) _is_alive = true; _query_thread = std::thread([=]() { - int reconnect_timeout; - privateNh.param("reconnect_timeout", reconnect_timeout, 6); - std::chrono::seconds timespan(reconnect_timeout); + int reconnect_timeout; + privateNh.param("reconnect_timeout", reconnect_timeout, 6); + std::chrono::seconds timespan(reconnect_timeout); while (_is_alive && !_device) { getDevice(_ctx.query_devices()); From d0d00af396e6f33aa7176623c0f6abd26def35db Mon Sep 17 00:00:00 2001 From: doronhi Date: Mon, 11 Oct 2021 10:42:09 +0300 Subject: [PATCH 64/94] migration from branch doronhi:ros2-add-material-d415 --- realsense2_description/urdf/_d415.urdf.xacro | 1 + 1 file changed, 1 insertion(+) diff --git a/realsense2_description/urdf/_d415.urdf.xacro b/realsense2_description/urdf/_d415.urdf.xacro index 9a4f792d3..07306bfa0 100644 --- a/realsense2_description/urdf/_d415.urdf.xacro +++ b/realsense2_description/urdf/_d415.urdf.xacro @@ -57,6 +57,7 @@ aluminum peripherial evaluation case. + From 58373b9bc5e0a8b8b121e2d47caab23d8b26b138 Mon Sep 17 00:00:00 2001 From: doronhi Date: Mon, 11 Oct 2021 11:56:31 +0300 Subject: [PATCH 65/94] Create main.yml --- .github/workflows/main.yml | 46 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 46 insertions(+) create mode 100644 .github/workflows/main.yml diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml new file mode 100644 index 000000000..1de5ac89d --- /dev/null +++ b/.github/workflows/main.yml @@ -0,0 +1,46 @@ +# This is a basic workflow to help you get started with Actions + +name: CI + +# Controls when the workflow will run +on: + # Triggers the workflow on push or pull request events but only for the development branch + push: + branches: [ development ] + pull_request: + branches: [ development ] + + # Allows you to run this workflow manually from the Actions tab + workflow_dispatch: + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + # This workflow contains a single job called "build" + build: + name: Build on ros ${{ matrix.ros_distro }} and ${{ matrix.os }} + runs-on: ${{ matrix.os }} + strategy: + matrix: + os: [ubuntu-20.04, ubuntu-18.04] + include: + - os: ubuntu-20.04 + ros_distro: 'noetic' + _python: 'python' + - os: ubuntu-18.04 + ros_distro: 'melodic' + _python: 'python3' + + steps: + - uses: ros-tooling/setup-ros@v0.2 + with: + required-ros-distributions: ${{ matrix.ros_distro }} + + - name: Install dependencies + run: | + echo _python:$_python + echo ros_distro:$ros_distro + sudo apt-get update + sudo apt-key adv --keyserver hkp://keys.gnupg.net:80 --recv-key C8B3A55A6F3EFCDE + sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" + sudo apt-get update -qq + sudo apt-get install librealsense2-dev --allow-unauthenticated -y From 2e61556ee0985fba3627045683ac1c035ba6c471 Mon Sep 17 00:00:00 2001 From: doronhi Date: Mon, 11 Oct 2021 16:09:52 +0300 Subject: [PATCH 66/94] add github action --- .github/workflows/main.yml | 45 +++++++++++++++++++++++++++++++++++--- 1 file changed, 42 insertions(+), 3 deletions(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 1de5ac89d..013d9a001 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -37,10 +37,49 @@ jobs: - name: Install dependencies run: | - echo _python:$_python - echo ros_distro:$ros_distro + echo _python:${{ matrix._python }} + echo ros_distro:${{ matrix.ros_distro }} sudo apt-get update - sudo apt-key adv --keyserver hkp://keys.gnupg.net:80 --recv-key C8B3A55A6F3EFCDE + sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com --recv-key C8B3A55A6F3EFCDE sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" sudo apt-get update -qq sudo apt-get install librealsense2-dev --allow-unauthenticated -y + + - name: Setup catkin workspace + run: | + echo "source /opt/ros/${{ matrix.ros_distro }}/setup.bash" >> ${{github.workspace}}/.bashrc + source ${{github.workspace}}/.bashrc + mkdir -p ${{github.workspace}}/catkin_ws/src + cd ${{github.workspace}}/catkin_ws/src + catkin_init_workspace + cd .. + + - uses: actions/checkout@v2 + with: + path: 'catkin_ws/src/realsense-ros' + + - name: Build + run: | + source ${{github.workspace}}/.bashrc + cd ${{github.workspace}}/catkin_ws + rosdep update + rosdep install -i --from-path src --rosdistro ${{ matrix.ros_distro }} -y + + catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release + catkin_make install + echo "source ${{github.workspace}}/catkin_ws/devel/setup.bash" >> ${{github.workspace}}/.bashrc + source ${{github.workspace}}/.bashrc + + - name: Download data + run: | + bag_filename="https://librealsense.intel.com/rs-tests/TestData/outdoors_1color.bag"; + wget $bag_filename -P "records/" + bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag"; + wget $bag_filename -P "records/" + + - name: Run tests + run: | + cd ${{github.workspace}}/catkin_ws + source ${{github.workspace}}/.bashrc + ${{ matrix._python }} src/realsense-ros/realsense2_camera/scripts/rs2_test.py --all + From b5d79d71f766fe2cba75bffa4926170e6a201560 Mon Sep 17 00:00:00 2001 From: doronhi Date: Mon, 11 Oct 2021 16:22:59 +0300 Subject: [PATCH 67/94] fix python versions --- .github/workflows/main.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 013d9a001..0b5e14c17 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -25,10 +25,10 @@ jobs: include: - os: ubuntu-20.04 ros_distro: 'noetic' - _python: 'python' + _python: 'python3' - os: ubuntu-18.04 ros_distro: 'melodic' - _python: 'python3' + _python: 'python' steps: - uses: ros-tooling/setup-ros@v0.2 From a9da53a76198ef2a27779dfcba3baaeb4238a759 Mon Sep 17 00:00:00 2001 From: doronhi Date: Mon, 11 Oct 2021 16:42:16 +0300 Subject: [PATCH 68/94] cd before run rs2_test.py --- .github/workflows/main.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 0b5e14c17..ad9289e87 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -20,6 +20,7 @@ jobs: name: Build on ros ${{ matrix.ros_distro }} and ${{ matrix.os }} runs-on: ${{ matrix.os }} strategy: + fail-fast: false matrix: os: [ubuntu-20.04, ubuntu-18.04] include: @@ -72,6 +73,7 @@ jobs: - name: Download data run: | + cd ${{github.workspace}}/catkin_ws bag_filename="https://librealsense.intel.com/rs-tests/TestData/outdoors_1color.bag"; wget $bag_filename -P "records/" bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag"; From 324760ce91a53eef175b954b2b7129862e9ac7e0 Mon Sep 17 00:00:00 2001 From: doronhi Date: Tue, 12 Oct 2021 09:00:40 +0300 Subject: [PATCH 69/94] remove most tests from github action until fixed on github runners. --- .github/workflows/main.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index ad9289e87..09bc28ed3 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -83,5 +83,5 @@ jobs: run: | cd ${{github.workspace}}/catkin_ws source ${{github.workspace}}/.bashrc - ${{ matrix._python }} src/realsense-ros/realsense2_camera/scripts/rs2_test.py --all + ${{ matrix._python }} src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file From 756f5e43f43d0a86c124c2354c21fe6984a3f2ce Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 12 Aug 2021 09:10:33 +0300 Subject: [PATCH 70/94] fix: show warning when requested profile cannot be selected. --- realsense2_camera/src/base_realsense_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 83bff4801..e596db4b9 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1087,7 +1087,7 @@ void BaseRealSenseNode::enable_devices() } if (!selected_profile) { - ROS_WARN_STREAM_COND((_width[elem]!=-1 && _height[elem]!=-1 && _fps[elem]!=-1), "Given stream configuration is not supported by the device! " << + ROS_WARN_STREAM_COND((_width[elem]!=-1 || _height[elem]!=-1 || _fps[elem]!=-1), "Given stream configuration is not supported by the device! " << " Stream: " << rs2_stream_to_string(elem.first) << ", Stream Index: " << elem.second << ", Width: " << _width[elem] << @@ -1096,7 +1096,7 @@ void BaseRealSenseNode::enable_devices() ", Format: " << ((_format.find(elem.first) == _format.end())? "None":rs2_format_to_string(rs2_format(_format[elem.first])))); if (default_profile) { - ROS_WARN_STREAM_COND((_width[elem]!=-1 && _height[elem]!=-1 && _fps[elem]!=-1), "Using default profile instead."); + ROS_WARN_STREAM_COND((_width[elem]!=-1 || _height[elem]!=-1 || _fps[elem]!=-1), "Using default profile instead."); selected_profile = default_profile; } } From edde8e738f0268c04216527fb055674aa6d7b803 Mon Sep 17 00:00:00 2001 From: doronhi Date: Thu, 21 Oct 2021 09:38:38 +0300 Subject: [PATCH 71/94] fixed missing std namespace --- realsense2_camera/src/base_realsense_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 83bff4801..78db6238f 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -2164,7 +2164,7 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co { std::set available_formats{ rs2_format::RS2_FORMAT_RGB8, rs2_format::RS2_FORMAT_Y8 }; - texture_frame_itr = find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f) + texture_frame_itr = std::find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f) {return (rs2_stream(f.get_profile().stream_type()) == texture_source_id) && (available_formats.find(f.get_profile().format()) != available_formats.end()); }); if (texture_frame_itr == frameset.end()) From de3ab6d4da44e4db86b6670cd295e1c93cc1a827 Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 24 Oct 2021 14:15:57 +0300 Subject: [PATCH 72/94] combine "if" sections. --- realsense2_camera/src/base_realsense_node.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index f36525e13..1c79acef5 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1906,13 +1906,6 @@ void BaseRealSenseNode::updateStreamCalibData(const rs2::video_stream_profile& v } } - if (intrinsic.model == RS2_DISTORTION_KANNALA_BRANDT4) - { - _camera_info[stream_index].distortion_model = "equidistant"; - } else { - _camera_info[stream_index].distortion_model = "plumb_bob"; - } - // set R (rotation matrix) values to identity matrix _camera_info[stream_index].R.at(0) = 1.0; _camera_info[stream_index].R.at(1) = 0.0; @@ -1924,7 +1917,14 @@ void BaseRealSenseNode::updateStreamCalibData(const rs2::video_stream_profile& v _camera_info[stream_index].R.at(7) = 0.0; _camera_info[stream_index].R.at(8) = 1.0; - int coeff_size = (intrinsic.model == RS2_DISTORTION_KANNALA_BRANDT4) ? 4 : 5; + int coeff_size(5); + if (intrinsic.model == RS2_DISTORTION_KANNALA_BRANDT4) + { + _camera_info[stream_index].distortion_model = "equidistant"; + coeff_size = 4; + } else { + _camera_info[stream_index].distortion_model = "plumb_bob"; + } _camera_info[stream_index].D.resize(coeff_size); for (int i = 0; i < coeff_size; i++) { @@ -2165,7 +2165,7 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co { std::set available_formats{ rs2_format::RS2_FORMAT_RGB8, rs2_format::RS2_FORMAT_Y8 }; - texture_frame_itr = find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f) + texture_frame_itr = std::find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f) {return (rs2_stream(f.get_profile().stream_type()) == texture_source_id) && (available_formats.find(f.get_profile().format()) != available_formats.end()); }); if (texture_frame_itr == frameset.end()) From de5a05a793e8ff6135b8d0b23bbec4948b3b7178 Mon Sep 17 00:00:00 2001 From: Jacco van der Spek Date: Mon, 25 Oct 2021 10:11:07 +0200 Subject: [PATCH 73/94] Use double instead of int --- realsense2_camera/launch/includes/nodelet.launch.xml | 4 ++-- realsense2_camera/launch/rs_camera.launch | 2 +- realsense2_camera/launch/rs_d400_and_t265.launch | 2 +- realsense2_camera/launch/rs_d435_camera_with_model.launch | 2 +- realsense2_camera/launch/rs_multiple_devices.launch | 2 +- realsense2_camera/launch/rs_t265.launch | 2 +- realsense2_camera/src/realsense_node_factory.cpp | 6 +++--- 7 files changed, 10 insertions(+), 10 deletions(-) diff --git a/realsense2_camera/launch/includes/nodelet.launch.xml b/realsense2_camera/launch/includes/nodelet.launch.xml index 3f292d2b0..82fa3203f 100644 --- a/realsense2_camera/launch/includes/nodelet.launch.xml +++ b/realsense2_camera/launch/includes/nodelet.launch.xml @@ -104,7 +104,7 @@ - + @@ -209,7 +209,7 @@ - + diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch index c70cbfefe..b721247bf 100644 --- a/realsense2_camera/launch/rs_camera.launch +++ b/realsense2_camera/launch/rs_camera.launch @@ -59,7 +59,7 @@ - + diff --git a/realsense2_camera/launch/rs_d400_and_t265.launch b/realsense2_camera/launch/rs_d400_and_t265.launch index 32b35ae40..3400d2e5d 100644 --- a/realsense2_camera/launch/rs_d400_and_t265.launch +++ b/realsense2_camera/launch/rs_d400_and_t265.launch @@ -8,7 +8,7 @@ - + diff --git a/realsense2_camera/launch/rs_d435_camera_with_model.launch b/realsense2_camera/launch/rs_d435_camera_with_model.launch index 98404d08f..2c20de72b 100644 --- a/realsense2_camera/launch/rs_d435_camera_with_model.launch +++ b/realsense2_camera/launch/rs_d435_camera_with_model.launch @@ -43,7 +43,7 @@ - + diff --git a/realsense2_camera/launch/rs_multiple_devices.launch b/realsense2_camera/launch/rs_multiple_devices.launch index a7f4ada0f..84414edba 100644 --- a/realsense2_camera/launch/rs_multiple_devices.launch +++ b/realsense2_camera/launch/rs_multiple_devices.launch @@ -9,7 +9,7 @@ - + diff --git a/realsense2_camera/launch/rs_t265.launch b/realsense2_camera/launch/rs_t265.launch index 16712962f..c042a6be5 100644 --- a/realsense2_camera/launch/rs_t265.launch +++ b/realsense2_camera/launch/rs_t265.launch @@ -29,7 +29,7 @@ https://github.com/IntelRealSense/librealsense/blob/master/third-party/libtm/lib - + diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index 24570c900..3aac76f32 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -290,9 +290,9 @@ void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored) _is_alive = true; _query_thread = std::thread([=]() { - int reconnect_timeout; - privateNh.param("reconnect_timeout", reconnect_timeout, 6); - std::chrono::seconds timespan(reconnect_timeout); + double reconnect_timeout; + privateNh.param("reconnect_timeout", reconnect_timeout, 6.0); + std::chrono::duration timespan(reconnect_timeout); while (_is_alive && !_device) { getDevice(_ctx.query_devices()); From 04e967134e64e9bf52df54663040b6d7146c0ada Mon Sep 17 00:00:00 2001 From: Jacco van der Spek Date: Mon, 25 Oct 2021 10:36:05 +0200 Subject: [PATCH 74/94] Indent --- realsense2_camera/src/realsense_node_factory.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index 3aac76f32..c86488ce8 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -290,9 +290,9 @@ void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored) _is_alive = true; _query_thread = std::thread([=]() { - double reconnect_timeout; - privateNh.param("reconnect_timeout", reconnect_timeout, 6.0); - std::chrono::duration timespan(reconnect_timeout); + double reconnect_timeout; + privateNh.param("reconnect_timeout", reconnect_timeout, 6.0); + std::chrono::duration timespan(reconnect_timeout); while (_is_alive && !_device) { getDevice(_ctx.query_devices()); From 00e8fb2277723324129cc69bf2c2c1fcde33e7c6 Mon Sep 17 00:00:00 2001 From: Gilad Bretter <7240093+Gilaadb@users.noreply.github.com> Date: Tue, 26 Oct 2021 11:25:21 +0300 Subject: [PATCH 75/94] Add physical description for d455 includes urdf stl and test launch files --- .../launch/view_d455_model.launch | 8 + realsense2_description/meshes/d455.stl | Bin 0 -> 2558184 bytes realsense2_description/urdf/_d455.urdf.xacro | 197 ++++++++++++++++++ .../urdf/test_d455_camera.urdf.xacro | 10 + 4 files changed, 215 insertions(+) create mode 100644 realsense2_description/launch/view_d455_model.launch create mode 100644 realsense2_description/meshes/d455.stl create mode 100644 realsense2_description/urdf/_d455.urdf.xacro create mode 100644 realsense2_description/urdf/test_d455_camera.urdf.xacro diff --git a/realsense2_description/launch/view_d455_model.launch b/realsense2_description/launch/view_d455_model.launch new file mode 100644 index 000000000..1f6a16121 --- 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+1,10 @@ + + + + + + + + + + From 0525674a1fca308bc8bfea4fadc91c914499ff98 Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 31 Oct 2021 09:48:41 +0200 Subject: [PATCH 76/94] fix bugs in rs2_listener.py: return first message if no constrains were specified and fix timeout units. --- realsense2_camera/scripts/rs2_listener.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/realsense2_camera/scripts/rs2_listener.py b/realsense2_camera/scripts/rs2_listener.py index 8b576c19a..04ceb1f75 100644 --- a/realsense2_camera/scripts/rs2_listener.py +++ b/realsense2_camera/scripts/rs2_listener.py @@ -38,7 +38,7 @@ def __init__(self, params={}): self.result = None self.break_timeout = False - self.timeout = params.get('timeout_secs', -1) + self.timeout = params.get('timeout_secs', -1) * 1e-3 self.seq = params.get('seq', -1) self.time = params.get('time', None) self.node_name = params.get('node_name', 'rs2_listener') @@ -216,7 +216,8 @@ def callback(self, data): self.prev_msg_data = data self.prev_time = time.time() - if any([self.seq > 0 and data.header.seq >= self.seq, + if any([self.seq < 0 and self.time is None, + self.seq > 0 and data.header.seq >= self.seq, self.time and data.header.stamp.secs == self.time['secs'] and data.header.stamp.nsecs == self.time['nsecs']]): self.result = data self.sub.unregister() From b43b69a75691063dfb4b3237f0bc6c1886cd83f0 Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 7 Nov 2021 11:03:01 +0200 Subject: [PATCH 77/94] add compressed messages to rs2_listener.py --- realsense2_camera/scripts/rs2_listener.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/realsense2_camera/scripts/rs2_listener.py b/realsense2_camera/scripts/rs2_listener.py index 04ceb1f75..3ac35723a 100644 --- a/realsense2_camera/scripts/rs2_listener.py +++ b/realsense2_camera/scripts/rs2_listener.py @@ -2,6 +2,7 @@ import time import rospy from sensor_msgs.msg import Image as msg_Image +from sensor_msgs.msg import CompressedImage as msg_CompressedImage from sensor_msgs.msg import PointCloud2 as msg_PointCloud2 import sensor_msgs.point_cloud2 as pc2 from sensor_msgs.msg import Imu as msg_Imu @@ -257,6 +258,8 @@ def main(): except NameError as e: print ('theora_image_transport is not installed. \nType "sudo apt-get install ros-kinetic-theora-image-transport" to enable registering on messages of type theora.') raise + elif 'compressed' in wanted_topic: + msg_type = msg_CompressedImage else: msg_type = msg_Image @@ -275,6 +278,10 @@ def main(): msg_params.setdefault('topic', wanted_topic) res = msg_retriever.wait_for_message(msg_params, msg_type) rospy.loginfo('Got message: %s' % res.header) + if (hasattr(res, 'encoding')): + print ('res.encoding:', res.encoding) + if (hasattr(res, 'format')): + print ('res.format:', res.format) else: themes = [wanted_topic] res = msg_retriever.wait_for_messages(themes) From 0bae7718999c4f605495799493bf44839cae1144 Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 14 Nov 2021 14:50:10 +0200 Subject: [PATCH 78/94] add wait_for_device_timeout parameter --- .../launch/includes/nodelet.launch.xml | 4 +++- realsense2_camera/launch/rs_camera.launch | 2 ++ .../src/realsense_node_factory.cpp | 22 +++++++++++++++++-- 3 files changed, 25 insertions(+), 3 deletions(-) diff --git a/realsense2_camera/launch/includes/nodelet.launch.xml b/realsense2_camera/launch/includes/nodelet.launch.xml index 82fa3203f..8452b4259 100644 --- a/realsense2_camera/launch/includes/nodelet.launch.xml +++ b/realsense2_camera/launch/includes/nodelet.launch.xml @@ -105,6 +105,7 @@ + @@ -209,7 +210,8 @@ - + + diff --git a/realsense2_camera/launch/rs_camera.launch b/realsense2_camera/launch/rs_camera.launch index b721247bf..75b0026be 100644 --- a/realsense2_camera/launch/rs_camera.launch +++ b/realsense2_camera/launch/rs_camera.launch @@ -60,6 +60,7 @@ + @@ -131,6 +132,7 @@ + diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index c86488ce8..3eb7e9618 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -292,7 +292,10 @@ void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored) { double reconnect_timeout; privateNh.param("reconnect_timeout", reconnect_timeout, 6.0); - std::chrono::duration timespan(reconnect_timeout); + double wait_for_device_timeout; + privateNh.param("wait_for_device_timeout", wait_for_device_timeout, -1.0); + std::chrono::milliseconds timespan(static_cast(reconnect_timeout*1e3)); + ros::Time first_try_time = ros::Time::now(); while (_is_alive && !_device) { getDevice(_ctx.query_devices()); @@ -304,7 +307,22 @@ void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored) } else { - std::this_thread::sleep_for(timespan); + std::chrono::milliseconds actual_timespan(timespan); + if (wait_for_device_timeout > 0) + { + auto time_to_timeout(wait_for_device_timeout - (ros::Time::now() - first_try_time).toSec()); + if (time_to_timeout < 0) + { + ROS_ERROR_STREAM("wait for device timeout of " << wait_for_device_timeout << " secs expired"); + exit(1); + } + else + { + double max_timespan_secs(std::chrono::duration_cast(timespan).count()); + actual_timespan = std::chrono::milliseconds (static_cast(std::min(max_timespan_secs, time_to_timeout) * 1e3)); + } + } + std::this_thread::sleep_for(actual_timespan); } } }); From a943776b9a9ae7200115a9d9d584b3ce0bcf182b Mon Sep 17 00:00:00 2001 From: doronhi Date: Mon, 15 Nov 2021 09:07:42 +0200 Subject: [PATCH 79/94] Add service: device_info --- README.md | 8 +++--- realsense2_camera/CMakeLists.txt | 5 ++++ .../include/base_realsense_node.h | 5 ++++ realsense2_camera/package.xml | 1 + realsense2_camera/src/base_realsense_node.cpp | 25 +++++++++++++++++++ realsense2_camera/srv/DeviceInfo.srv | 7 ++++++ 6 files changed, 47 insertions(+), 4 deletions(-) create mode 100644 realsense2_camera/srv/DeviceInfo.srv diff --git a/README.md b/README.md index 98eeb0699..0efe8a9c8 100644 --- a/README.md +++ b/README.md @@ -150,10 +150,6 @@ After running the above command with D435i attached, the following list of topic The "/camera" prefix is the default and can be changed. Check the rs_multiple_devices.launch file for an example. If using D435 or D415, the gyro and accel topics wont be available. Likewise, other topics will be available when using T265 (see below). -### Available services: -- reset : Cause a hardware reset of the device. Usage: `rosservice call /camera/realsense2_camera/reset` -- enable : Start/Stop all streaming sensors. Usage example: `rosservice call /camera/enable False"` - ### Launch parameters The following parameters are available by the wrapper: - **serial_no**: will attach to the device with the given serial number (*serial_no*) number. Default, attach to available RealSense device in random. @@ -206,6 +202,10 @@ Setting *unite_imu_method* creates a new topic, *imu*, that replaces the default - **NOTE** To enable the Infrared stream, you should enable `enable_infra:=true` NOT `enable_infra1:=true` nor `enable_infra2:=true` - **NOTE** This feature is only supported by Realsense sensors with RGB streams available from the `infra` cameras, which can be checked by observing the output of `rs-enumerate-devices` +### Available services: +- reset : Cause a hardware reset of the device. Usage: `rosservice call /camera/realsense2_camera/reset` +- enable : Start/Stop all streaming sensors. Usage example: `rosservice call /camera/enable False"` +- device_info : retrieve information about the device - serial_number, firmware_version etc. Type `osservice type /camera/realsense2_camera/device_info | rossrv show` for the full list. Call example: `rosservice call /camera/realsense2_camera/device_info` ### Point Cloud Here is an example of how to start the camera node and make it publish the point cloud using the pointcloud option. diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index e882ee662..21149fc03 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -71,6 +71,11 @@ add_message_files( Extrinsics.msg ) +add_service_files( + FILES + DeviceInfo.srv +) + generate_messages( DEPENDENCIES sensor_msgs diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index 42b2d2c43..12befea32 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -4,6 +4,7 @@ #pragma once #include "../include/realsense_node_factory.h" +#include #include #include @@ -163,8 +164,11 @@ namespace realsense2_camera ros::NodeHandle& _node_handle, _pnh; bool _align_depth; std::vector _monitor_options; + std::shared_ptr _device_info_srv; virtual void calcAndPublishStaticTransform(const stream_index_pair& stream, const rs2::stream_profile& base_profile); + bool getDeviceInfo(realsense2_camera::DeviceInfo::Request& req, + realsense2_camera::DeviceInfo::Response& res); rs2::stream_profile getAProfile(const stream_index_pair& stream); tf::Quaternion rotationMatrixToQuaternion(const float rotation[9]) const; void publish_static_tf(const ros::Time& t, @@ -246,6 +250,7 @@ namespace realsense2_camera void startMonitoring(); void publish_temperature(); void publish_frequency_update(); + void publishServices(); rs2::device _dev; std::map _sensors; diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index 687ad4cd7..42c866d53 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -12,6 +12,7 @@ Sergey Dorodnicov Doron Hirshberg catkin + message_generation eigen image_transport cv_bridge diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 810825124..750188e2c 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -253,6 +253,7 @@ void BaseRealSenseNode::publishTopics() publishStaticTransforms(); publishIntrinsics(); startMonitoring(); + publishServices(); ROS_INFO_STREAM("RealSense Node Is Up!"); } @@ -2494,3 +2495,27 @@ void TemperatureDiagnostics::diagnostics(diagnostic_updater::DiagnosticStatusWra status.summary(0, "OK"); status.add("Index", _crnt_temp); } + +void BaseRealSenseNode::publishServices() +{ + _device_info_srv = std::make_shared(_pnh.advertiseService("device_info", &BaseRealSenseNode::getDeviceInfo, this)); +} + +bool BaseRealSenseNode::getDeviceInfo(realsense2_camera::DeviceInfo::Request&, + realsense2_camera::DeviceInfo::Response& res) +{ + res.device_name = _dev.supports(RS2_CAMERA_INFO_NAME) ? create_graph_resource_name(_dev.get_info(RS2_CAMERA_INFO_NAME)) : ""; + res.serial_number = _dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER) ? _dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) : ""; + res.firmware_version = _dev.supports(RS2_CAMERA_INFO_FIRMWARE_VERSION) ? _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION) : ""; + res.usb_type_descriptor = _dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR) ? _dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR) : ""; + res.firmware_update_id = _dev.supports(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID) ? _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID) : ""; + + std::stringstream sensors_names; + for(auto&& sensor : _dev_sensors) + { + sensors_names << create_graph_resource_name(sensor.get_info(RS2_CAMERA_INFO_NAME)) << ","; + } + + res.sensors = sensors_names.str().substr(0, sensors_names.str().size()-1); + return true; +} diff --git a/realsense2_camera/srv/DeviceInfo.srv b/realsense2_camera/srv/DeviceInfo.srv new file mode 100644 index 000000000..d41600c63 --- /dev/null +++ b/realsense2_camera/srv/DeviceInfo.srv @@ -0,0 +1,7 @@ +--- +string device_name +string serial_number +string firmware_version +string usb_type_descriptor +string firmware_update_id +string sensors From f45d81685f03863afc5e774bd61c804a64f93065 Mon Sep 17 00:00:00 2001 From: doronhi Date: Mon, 15 Nov 2021 11:15:25 +0200 Subject: [PATCH 80/94] publish metadata --- README.md | 4 + realsense2_camera/CMakeLists.txt | 1 + .../include/base_realsense_node.h | 4 + realsense2_camera/msg/Metadata.msg | 2 + realsense2_camera/scripts/echo_metadada.py | 34 +++++ realsense2_camera/src/base_realsense_node.cpp | 119 +++++++++++++----- 6 files changed, 134 insertions(+), 30 deletions(-) create mode 100644 realsense2_camera/msg/Metadata.msg create mode 100644 realsense2_camera/scripts/echo_metadada.py diff --git a/README.md b/README.md index 0efe8a9c8..f7d6d4021 100644 --- a/README.md +++ b/README.md @@ -123,8 +123,10 @@ The published topics differ according to the device and parameters. After running the above command with D435i attached, the following list of topics will be available (This is a partial list. For full one type `rostopic list`): - /camera/color/camera_info - /camera/color/image_raw +- /camera/color/metadata - /camera/depth/camera_info - /camera/depth/image_rect_raw +- /camera/depth/metadata - /camera/extrinsics/depth_to_color - /camera/extrinsics/depth_to_infra1 - /camera/extrinsics/depth_to_infra2 @@ -133,8 +135,10 @@ After running the above command with D435i attached, the following list of topic - /camera/infra2/camera_info - /camera/infra2/image_rect_raw - /camera/gyro/imu_info +- /camera/gyro/metadata - /camera/gyro/sample - /camera/accel/imu_info +- /camera/accel/metadata - /camera/accel/sample - /diagnostics diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index 21149fc03..aedf26202 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -69,6 +69,7 @@ add_message_files( FILES IMUInfo.msg Extrinsics.msg + Metadata.msg ) add_service_files( diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index 12befea32..750932275 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -5,6 +5,7 @@ #include "../include/realsense_node_factory.h" #include +#include "realsense2_camera/Metadata.h" #include #include @@ -221,10 +222,12 @@ namespace realsense2_camera std::map& images, const std::map& info_publishers, const std::map& image_publishers, + const bool is_publishMetadata, std::map& seq, std::map& camera_info, const std::map& encoding, bool copy_data_from_frame = true); + void publishMetadata(rs2::frame f, const std::string& frame_id); bool getEnabledProfile(const stream_index_pair& stream_index, rs2::stream_profile& profile); void publishAlignedDepthToOthers(rs2::frameset frames, const ros::Time& t); @@ -288,6 +291,7 @@ namespace realsense2_camera std::shared_ptr _synced_imu_publisher; std::map _image_format; std::map _info_publisher; + std::map> _metadata_publishers; std::map _image; std::map _encoding; diff --git a/realsense2_camera/msg/Metadata.msg b/realsense2_camera/msg/Metadata.msg new file mode 100644 index 000000000..d837c3b9d --- /dev/null +++ b/realsense2_camera/msg/Metadata.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +string json_data \ No newline at end of file diff --git a/realsense2_camera/scripts/echo_metadada.py b/realsense2_camera/scripts/echo_metadada.py new file mode 100644 index 000000000..42923bf77 --- /dev/null +++ b/realsense2_camera/scripts/echo_metadada.py @@ -0,0 +1,34 @@ +#!/usr/bin/env python +import os +import sys +import rospy +from realsense2_camera.msg import Metadata +import json + +def metadata_cb(msg): + aa = json.loads(msg.json_data) + os.system('clear') + print('\n'.join(['%10s:%-10s' % (key, str(value)) for key, value in aa.items()])) + +def main(): + if len(sys.argv) < 2 or '--help' in sys.argv or '/?' in sys.argv: + print ('USAGE:') + print('echo_metadata.py ') + print('Demo for listening on given metadata topic.') + print('App subscribes on given topic') + print('App then prints metadata from messages') + print('') + print('Example: echo_metadata.py /camera/depth/metadata') + print('') + exit(-1) + + topic = sys.argv[1] + + rospy.init_node('metadata_tester', anonymous=True) + + depth_sub = rospy.Subscriber(topic, Metadata, metadata_cb) + + rospy.spin() + +if __name__ == '__main__': + main() diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 750188e2c..1ea3595ef 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -968,7 +968,7 @@ void BaseRealSenseNode::setupPublishers() { if (_enable[stream]) { - std::stringstream image_raw, camera_info; + std::stringstream image_raw, camera_info, topic_metadata; bool rectified_image = false; if (stream == DEPTH || stream == CONFIDENCE || stream == INFRA1 || stream == INFRA2) rectified_image = true; @@ -976,10 +976,12 @@ void BaseRealSenseNode::setupPublishers() std::string stream_name(STREAM_NAME(stream)); image_raw << stream_name << "/image_" << ((rectified_image)?"rect_":"") << "raw"; camera_info << stream_name << "/camera_info"; + topic_metadata << stream_name << "/metadata"; std::shared_ptr frequency_diagnostics(new FrequencyDiagnostics(_fps[stream], stream_name, _serial_no)); _image_publishers[stream] = {image_transport.advertise(image_raw.str(), 1), frequency_diagnostics}; _info_publisher[stream] = _node_handle.advertise(camera_info.str(), 1); + _metadata_publishers[stream] = std::make_shared(_node_handle.advertise(topic_metadata.str(), 1)); if (_align_depth && stream == COLOR) { @@ -1012,16 +1014,19 @@ void BaseRealSenseNode::setupPublishers() if (_enable[GYRO]) { _imu_publishers[GYRO] = _node_handle.advertise("gyro/sample", 100); + _metadata_publishers[GYRO] = std::make_shared(_node_handle.advertise("gyro/metadata", 1)); } if (_enable[ACCEL]) { _imu_publishers[ACCEL] = _node_handle.advertise("accel/sample", 100); + _metadata_publishers[ACCEL] = std::make_shared(_node_handle.advertise("accel/metadata", 1)); } } if (_enable[POSE]) { _imu_publishers[POSE] = _node_handle.advertise("odom/sample", 100); + _metadata_publishers[POSE] = std::make_shared(_node_handle.advertise("odom/metadata", 1)); } @@ -1483,7 +1488,7 @@ void BaseRealSenseNode::imu_callback_sync(rs2::frame frame, imu_sync_method sync } } m_mutex.unlock(); -}; +} void BaseRealSenseNode::imu_callback(rs2::frame frame) { @@ -1501,10 +1506,9 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame) rs2_timestamp_domain_to_string(frame.get_frame_timestamp_domain())); auto stream_index = (stream == GYRO.first)?GYRO:ACCEL; + ros::Time t(frameSystemTimeSec(frame)); if (0 != _imu_publishers[stream_index].getNumSubscribers()) { - ros::Time t(frameSystemTimeSec(frame)); - auto imu_msg = sensor_msgs::Imu(); ImuMessage_AddDefaultValues(imu_msg); imu_msg.header.frame_id = _optical_frame_id[stream_index]; @@ -1528,6 +1532,7 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame) _imu_publishers[stream_index].publish(imu_msg); ROS_DEBUG("Publish %s stream", rs2_stream_to_string(frame.get_profile().stream_type())); } + publishMetadata(frame, _optical_frame_id[stream_index]); } void BaseRealSenseNode::pose_callback(rs2::frame frame) @@ -1620,6 +1625,7 @@ void BaseRealSenseNode::pose_callback(rs2::frame frame) _imu_publishers[stream_index].publish(odom_msg); ROS_DEBUG("Publish %s stream", rs2_stream_to_string(frame.get_profile().stream_type())); } + publishMetadata(frame, _frame_id[POSE]); } void BaseRealSenseNode::frame_callback(rs2::frame frame) @@ -1704,7 +1710,9 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) publishFrame(f, t, COLOR, _depth_aligned_image, _depth_aligned_info_publisher, - _depth_aligned_image_publishers, _depth_aligned_seq, + _depth_aligned_image_publishers, + false, + _depth_aligned_seq, _depth_aligned_camera_info, _depth_aligned_encoding); continue; @@ -1714,7 +1722,9 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) sip, _image, _info_publisher, - _image_publishers, _seq, + _image_publishers, + true, + _seq, _camera_info, _encoding); } @@ -1725,12 +1735,14 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) frame_to_send = _colorizer->process(original_depth_frame); else frame_to_send = original_depth_frame; - + publishFrame(frame_to_send, t, DEPTH, _image, _info_publisher, - _image_publishers, _seq, + _image_publishers, + true, + _seq, _camera_info, _encoding); } @@ -1755,7 +1767,9 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) sip, _image, _info_publisher, - _image_publishers, _seq, + _image_publishers, + true, + _seq, _camera_info, _encoding); } @@ -1765,7 +1779,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame) ROS_ERROR_STREAM("An error has occurred during frame callback: " << ex.what()); } _synced_imu_publisher->Resume(); -}; // frame_callback +} // frame_callback void BaseRealSenseNode::multiple_message_callback(rs2::frame frame, imu_sync_method sync_method) { @@ -1834,7 +1848,7 @@ void BaseRealSenseNode::setupStreams() for (const std::pair>& profile : _enabled_profiles) { std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME); - ROS_INFO_STREAM("insert " << rs2_stream_to_string(profile.second.begin()->stream_type()) + ROS_DEBUG_STREAM("insert " << rs2_stream_to_string(profile.second.begin()->stream_type()) << " to " << module_name); profiles[module_name].insert(profiles[module_name].begin(), profile.second.begin(), @@ -2048,7 +2062,6 @@ void BaseRealSenseNode::SetBaseStream() void BaseRealSenseNode::publishStaticTransforms() { rs2::stream_profile base_profile = getAProfile(_base_stream); - // Publish static transforms if (_publish_tf) { @@ -2165,8 +2178,8 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co if (use_texture) { std::set available_formats{ rs2_format::RS2_FORMAT_RGB8, rs2_format::RS2_FORMAT_Y8 }; - - texture_frame_itr = std::find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f) + + texture_frame_itr = std::find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f) {return (rs2_stream(f.get_profile().stream_type()) == texture_source_id) && (available_formats.find(f.get_profile().format()) != available_formats.end()); }); if (texture_frame_itr == frameset.end()) @@ -2188,7 +2201,7 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co rs2_intrinsics depth_intrin = pc.get_profile().as().get_intrinsics(); sensor_msgs::PointCloud2Modifier modifier(_msg_pointcloud); - modifier.setPointCloud2FieldsByString(1, "xyz"); + modifier.setPointCloud2FieldsByString(1, "xyz"); modifier.resize(pc.size()); if (_ordered_pc) { @@ -2274,7 +2287,7 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co *iter_x = vertex->x; *iter_y = vertex->y; *iter_z = vertex->z; - + ++iter_x; ++iter_y; ++iter_z; ++valid_count; } @@ -2312,8 +2325,8 @@ rs2::stream_profile BaseRealSenseNode::getAProfile(const stream_index_pair& stre { const std::vector profiles = _sensors[stream].get_stream_profiles(); return *(std::find_if(profiles.begin(), profiles.end(), - [&stream] (const rs2::stream_profile& profile) { - return ((profile.stream_type() == stream.first) && (profile.stream_index() == stream.second)); + [&stream] (const rs2::stream_profile& profile) { + return ((profile.stream_type() == stream.first) && (profile.stream_index() == stream.second)); })); } @@ -2352,6 +2365,7 @@ void BaseRealSenseNode::publishFrame(rs2::frame f, const ros::Time& t, std::map& images, const std::map& info_publishers, const std::map& image_publishers, + const bool is_publishMetadata, std::map& seq, std::map& camera_info, const std::map& encoding, @@ -2411,24 +2425,69 @@ void BaseRealSenseNode::publishFrame(rs2::frame f, const ros::Time& t, img->header.seq = seq[stream]; image_publisher.first.publish(img); - // ROS_INFO_STREAM("fid: " << cam_info.header.seq << ", time: " << std::setprecision (20) << t.toSec()); ROS_DEBUG("%s stream published", rs2_stream_to_string(f.get_profile().stream_type())); } + if (is_publishMetadata) + { + auto& cam_info = camera_info.at(stream); + publishMetadata(f, cam_info.header.frame_id); + } } -bool BaseRealSenseNode::getEnabledProfile(const stream_index_pair& stream_index, rs2::stream_profile& profile) +void BaseRealSenseNode::publishMetadata(rs2::frame f, const std::string& frame_id) +{ + stream_index_pair stream = {f.get_profile().stream_type(), f.get_profile().stream_index()}; + if (_metadata_publishers.find(stream) != _metadata_publishers.end()) { - // Assuming that all D400 SKUs have depth sensor - auto profiles = _enabled_profiles[stream_index]; - auto it = std::find_if(profiles.begin(), profiles.end(), - [&](const rs2::stream_profile& profile) - { return (profile.stream_type() == stream_index.first); }); - if (it == profiles.end()) - return false; - - profile = *it; - return true; + ros::Time t(frameSystemTimeSec(f)); + auto& md_publisher = _metadata_publishers.at(stream); + if (0 != md_publisher->getNumSubscribers()) + { + realsense2_camera::Metadata msg; + msg.header.frame_id = frame_id; + msg.header.stamp = t; + std::stringstream json_data; + const char* separator = ","; + json_data << "{"; + // Add additional fields: + json_data << "\"" << "frame_number" << "\":" << f.get_frame_number(); + json_data << separator << "\"" << "clock_domain" << "\":" << "\"" << create_graph_resource_name(rs2_timestamp_domain_to_string(f.get_frame_timestamp_domain())) << "\""; + json_data << separator << "\"" << "frame_timestamp" << "\":" << std::fixed << f.get_timestamp(); + + for (auto i = 0; i < RS2_FRAME_METADATA_COUNT; i++) + { + if (f.supports_frame_metadata((rs2_frame_metadata_value)i)) + { + rs2_frame_metadata_value mparam = (rs2_frame_metadata_value)i; + std::string name = create_graph_resource_name(rs2_frame_metadata_to_string(mparam)); + if (RS2_FRAME_METADATA_FRAME_TIMESTAMP == i) + { + name = "hw_timestamp"; + } + rs2_metadata_type val = f.get_frame_metadata(mparam); + json_data << separator << "\"" << name << "\":" << val; + } + } + json_data << "}"; + msg.json_data = json_data.str(); + md_publisher->publish(msg); + } } +} + +bool BaseRealSenseNode::getEnabledProfile(const stream_index_pair& stream_index, rs2::stream_profile& profile) +{ + // Assuming that all D400 SKUs have depth sensor + auto profiles = _enabled_profiles[stream_index]; + auto it = std::find_if(profiles.begin(), profiles.end(), + [&](const rs2::stream_profile& profile) + { return (profile.stream_type() == stream_index.first); }); + if (it == profiles.end()) + return false; + + profile = *it; + return true; +} void BaseRealSenseNode::startMonitoring() { From 1ef53252a6070a04b0219c82144a1e0f6ed3d841 Mon Sep 17 00:00:00 2001 From: doronhi Date: Mon, 15 Nov 2021 01:53:52 -0800 Subject: [PATCH 81/94] bump version to 2.3.2 --- README.md | 4 ++-- realsense2_camera/CHANGELOG.rst | 12 ++++++++++++ realsense2_camera/CMakeLists.txt | 2 +- realsense2_camera/include/constants.h | 2 +- realsense2_description/CHANGELOG.rst | 6 ++++++ 5 files changed, 22 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index f7d6d4021..70732d0a6 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ This version supports Kinetic, Melodic and Noetic distributions. For running in ROS2 environment please switch to the [ros2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2).
-LibRealSense2 supported version: v2.48.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) +LibRealSense2 supported version: v2.50.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) ## Installation Instructions @@ -59,7 +59,7 @@ LibRealSense2 supported version: v2.48.0 (see [realsense2_camera release notes]( `vcpkg install realsense2:x64-windows` #### OR - - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.48.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) + - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.50.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) ### Step 2: Install Intel® RealSense™ ROS from Sources diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index 45e7a33c0..e7fe1582a 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,6 +2,18 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* publish metadata +* Add service: device_info +* add wait_for_device_timeout parameter +* Add reconnect_timeout parameter +* show warning when requested profile cannot be selected. +* send only 4 distortion coeffs when using equidistant +* fixed missing std namespace +* Removing spaces when iterating filters +* Contributors: Collin Avidano, Gintaras, Jacco van der Spek, doronhi + 2.3.1 (2021-07-01) ------------------ * add respawn option diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index aedf26202..338528cdb 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -41,7 +41,7 @@ endif() if (WIN32) find_package(realsense2 CONFIG REQUIRED) else() -find_package(realsense2 2.48.0) +find_package(realsense2 2.50.0) endif() if(NOT realsense2_FOUND) diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h index 16455a670..3d31a7a4b 100644 --- a/realsense2_camera/include/constants.h +++ b/realsense2_camera/include/constants.h @@ -7,7 +7,7 @@ #define REALSENSE_ROS_MAJOR_VERSION 2 #define REALSENSE_ROS_MINOR_VERSION 3 -#define REALSENSE_ROS_PATCH_VERSION 1 +#define REALSENSE_ROS_PATCH_VERSION 2 #define STRINGIFY(arg) #arg #define VAR_ARG_STRING(arg) STRINGIFY(arg) diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index e936633cb..f3657e5f1 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Add D455 description +* Add missing aluminum material to d415 model. +* Contributors: Gilad Bretter, doronhi + 2.3.1 (2021-07-01) ------------------ * add imu frames to _l515.urdf.xacro From f400d682beee6c216052a419f419e95b797255ad Mon Sep 17 00:00:00 2001 From: doronhi Date: Mon, 15 Nov 2021 03:20:29 -0800 Subject: [PATCH 82/94] 2.3.2 --- realsense2_camera/CHANGELOG.rst | 4 ++-- realsense2_camera/package.xml | 2 +- realsense2_description/CHANGELOG.rst | 4 ++-- realsense2_description/package.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/realsense2_camera/CHANGELOG.rst b/realsense2_camera/CHANGELOG.rst index e7fe1582a..b6f04985c 100644 --- a/realsense2_camera/CHANGELOG.rst +++ b/realsense2_camera/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_camera ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.3.2 (2021-11-15) +------------------ * publish metadata * Add service: device_info * add wait_for_device_timeout parameter diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml index 42c866d53..937bbd66c 100644 --- a/realsense2_camera/package.xml +++ b/realsense2_camera/package.xml @@ -1,7 +1,7 @@ realsense2_camera - 2.3.1 + 2.3.2 RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras Doron Hirshberg Apache 2.0 diff --git a/realsense2_description/CHANGELOG.rst b/realsense2_description/CHANGELOG.rst index f3657e5f1..cd922b929 100644 --- a/realsense2_description/CHANGELOG.rst +++ b/realsense2_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package realsense2_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +2.3.2 (2021-11-15) +------------------ * Add D455 description * Add missing aluminum material to d415 model. * Contributors: Gilad Bretter, doronhi diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml index a593eeabd..96709be01 100644 --- a/realsense2_description/package.xml +++ b/realsense2_description/package.xml @@ -1,7 +1,7 @@ realsense2_description - 2.3.1 + 2.3.2 RealSense Camera description package for Intel 3D D400 cameras Doron Hirshberg Apache 2.0 From 33d35252d28dfd66129267c007bd9c460231393a Mon Sep 17 00:00:00 2001 From: doronhi Date: Sun, 30 Jan 2022 11:27:01 +0200 Subject: [PATCH 83/94] set metadata messages header time stamp to match images time stamp. --- realsense2_camera/include/base_realsense_node.h | 2 +- realsense2_camera/scripts/echo_metadada.py | 1 + realsense2_camera/src/base_realsense_node.cpp | 11 +++++------ 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index 750932275..680db362b 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -227,7 +227,7 @@ namespace realsense2_camera std::map& camera_info, const std::map& encoding, bool copy_data_from_frame = true); - void publishMetadata(rs2::frame f, const std::string& frame_id); + void publishMetadata(rs2::frame f, const ros::Time& header_time, const std::string& frame_id); bool getEnabledProfile(const stream_index_pair& stream_index, rs2::stream_profile& profile); void publishAlignedDepthToOthers(rs2::frameset frames, const ros::Time& t); diff --git a/realsense2_camera/scripts/echo_metadada.py b/realsense2_camera/scripts/echo_metadada.py index 42923bf77..1b0c31b6a 100644 --- a/realsense2_camera/scripts/echo_metadada.py +++ b/realsense2_camera/scripts/echo_metadada.py @@ -8,6 +8,7 @@ def metadata_cb(msg): aa = json.loads(msg.json_data) os.system('clear') + print('header:', msg.header) print('\n'.join(['%10s:%-10s' % (key, str(value)) for key, value in aa.items()])) def main(): diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 1ea3595ef..993b945a9 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1532,7 +1532,7 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame) _imu_publishers[stream_index].publish(imu_msg); ROS_DEBUG("Publish %s stream", rs2_stream_to_string(frame.get_profile().stream_type())); } - publishMetadata(frame, _optical_frame_id[stream_index]); + publishMetadata(frame, t, _optical_frame_id[stream_index]); } void BaseRealSenseNode::pose_callback(rs2::frame frame) @@ -1625,7 +1625,7 @@ void BaseRealSenseNode::pose_callback(rs2::frame frame) _imu_publishers[stream_index].publish(odom_msg); ROS_DEBUG("Publish %s stream", rs2_stream_to_string(frame.get_profile().stream_type())); } - publishMetadata(frame, _frame_id[POSE]); + publishMetadata(frame, t, _frame_id[POSE]); } void BaseRealSenseNode::frame_callback(rs2::frame frame) @@ -2430,22 +2430,21 @@ void BaseRealSenseNode::publishFrame(rs2::frame f, const ros::Time& t, if (is_publishMetadata) { auto& cam_info = camera_info.at(stream); - publishMetadata(f, cam_info.header.frame_id); + publishMetadata(f, t, cam_info.header.frame_id); } } -void BaseRealSenseNode::publishMetadata(rs2::frame f, const std::string& frame_id) +void BaseRealSenseNode::publishMetadata(rs2::frame f, const ros::Time& header_time, const std::string& frame_id) { stream_index_pair stream = {f.get_profile().stream_type(), f.get_profile().stream_index()}; if (_metadata_publishers.find(stream) != _metadata_publishers.end()) { - ros::Time t(frameSystemTimeSec(f)); auto& md_publisher = _metadata_publishers.at(stream); if (0 != md_publisher->getNumSubscribers()) { realsense2_camera::Metadata msg; msg.header.frame_id = frame_id; - msg.header.stamp = t; + msg.header.stamp = header_time; std::stringstream json_data; const char* separator = ","; json_data << "{"; From b55522603b3d52a699e574788bdf3a44b68b6aa7 Mon Sep 17 00:00:00 2001 From: Frederic Tran Date: Wed, 2 Feb 2022 17:51:39 +0100 Subject: [PATCH 84/94] fix std::find_if issues --- realsense2_camera/src/base_realsense_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 993b945a9..1405577d4 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -227,7 +227,7 @@ void BaseRealSenseNode::setupErrorCallback() { ROS_WARN_STREAM("Hardware Notification:" << n.get_description() << "," << n.get_timestamp() << "," << n.get_severity() << "," << n.get_category()); } - if (error_strings.end() != find_if(error_strings.begin(), error_strings.end(), [&n] (std::string err) + if (error_strings.end() != std::find_if(error_strings.begin(), error_strings.end(), [&n] (std::string err) {return (n.get_description().find(err) != std::string::npos); })) { ROS_ERROR_STREAM("Performing Hardware Reset."); From b5e5fba75b1e8926f0c440cbb50223cceafe1bdd Mon Sep 17 00:00:00 2001 From: Terry Scott Date: Sun, 6 Feb 2022 21:58:57 -0500 Subject: [PATCH 85/94] Allow the catkin package to be included in other projects --- realsense2_camera/CMakeLists.txt | 11 ++++++----- .../{ => realsense2_camera}/base_realsense_node.h | 2 +- .../include/{ => realsense2_camera}/constants.h | 0 .../{ => realsense2_camera}/realsense_node_factory.h | 2 +- .../{ => realsense2_camera}/t265_realsense_node.h | 2 +- realsense2_camera/src/base_realsense_node.cpp | 2 +- realsense2_camera/src/realsense_node_factory.cpp | 6 +++--- realsense2_camera/src/t265_realsense_node.cpp | 2 +- 8 files changed, 14 insertions(+), 13 deletions(-) rename realsense2_camera/include/{ => realsense2_camera}/base_realsense_node.h (99%) rename realsense2_camera/include/{ => realsense2_camera}/constants.h (100%) rename realsense2_camera/include/{ => realsense2_camera}/realsense_node_factory.h (98%) rename realsense2_camera/include/{ => realsense2_camera}/t265_realsense_node.h (93%) diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index 338528cdb..a0a8deba6 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -92,6 +92,7 @@ include_directories( # RealSense ROS Node catkin_package( + INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS message_runtime roscpp sensor_msgs std_msgs nodelet @@ -102,10 +103,10 @@ catkin_package( ) add_library(${PROJECT_NAME} - include/constants.h - include/realsense_node_factory.h - include/base_realsense_node.h - include/t265_realsense_node.h + include/realsense2_camera/constants.h + include/realsense2_camera/realsense_node_factory.h + include/realsense2_camera/base_realsense_node.h + include/realsense2_camera/t265_realsense_node.h src/realsense_node_factory.cpp src/base_realsense_node.cpp src/t265_realsense_node.cpp @@ -140,7 +141,7 @@ install(TARGETS ${PROJECT_NAME} ) # Install header files -install(DIRECTORY include/ +install(DIRECTORY include/realsense2_camera DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/realsense2_camera/base_realsense_node.h similarity index 99% rename from realsense2_camera/include/base_realsense_node.h rename to realsense2_camera/include/realsense2_camera/base_realsense_node.h index 680db362b..de1364eca 100644 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/realsense2_camera/base_realsense_node.h @@ -3,7 +3,7 @@ #pragma once -#include "../include/realsense_node_factory.h" +#include "realsense2_camera/realsense_node_factory.h" #include #include "realsense2_camera/Metadata.h" #include diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/realsense2_camera/constants.h similarity index 100% rename from realsense2_camera/include/constants.h rename to realsense2_camera/include/realsense2_camera/constants.h diff --git a/realsense2_camera/include/realsense_node_factory.h b/realsense2_camera/include/realsense2_camera/realsense_node_factory.h similarity index 98% rename from realsense2_camera/include/realsense_node_factory.h rename to realsense2_camera/include/realsense2_camera/realsense_node_factory.h index 921b43037..2fc666460 100644 --- a/realsense2_camera/include/realsense_node_factory.h +++ b/realsense2_camera/include/realsense2_camera/realsense_node_factory.h @@ -14,7 +14,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/realsense2_camera/include/t265_realsense_node.h b/realsense2_camera/include/realsense2_camera/t265_realsense_node.h similarity index 93% rename from realsense2_camera/include/t265_realsense_node.h rename to realsense2_camera/include/realsense2_camera/t265_realsense_node.h index beb8253f6..543d8584d 100644 --- a/realsense2_camera/include/t265_realsense_node.h +++ b/realsense2_camera/include/realsense2_camera/t265_realsense_node.h @@ -1,6 +1,6 @@ #pragma once -#include +#include namespace realsense2_camera { diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp index 1405577d4..274b6282d 100644 --- a/realsense2_camera/src/base_realsense_node.cpp +++ b/realsense2_camera/src/base_realsense_node.cpp @@ -1,4 +1,4 @@ -#include "../include/base_realsense_node.h" +#include "realsense2_camera/base_realsense_node.h" #include "assert.h" #include #include diff --git a/realsense2_camera/src/realsense_node_factory.cpp b/realsense2_camera/src/realsense_node_factory.cpp index 3eb7e9618..282662a32 100644 --- a/realsense2_camera/src/realsense_node_factory.cpp +++ b/realsense2_camera/src/realsense_node_factory.cpp @@ -1,9 +1,9 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2017 Intel Corporation. All Rights Reserved -#include "../include/realsense_node_factory.h" -#include "../include/base_realsense_node.h" -#include "../include/t265_realsense_node.h" +#include "realsense2_camera/realsense_node_factory.h" +#include "realsense2_camera/base_realsense_node.h" +#include "realsense2_camera/t265_realsense_node.h" #include #include #include diff --git a/realsense2_camera/src/t265_realsense_node.cpp b/realsense2_camera/src/t265_realsense_node.cpp index 2a4e76db2..974161981 100644 --- a/realsense2_camera/src/t265_realsense_node.cpp +++ b/realsense2_camera/src/t265_realsense_node.cpp @@ -1,4 +1,4 @@ -#include "../include/t265_realsense_node.h" +#include "realsense2_camera/t265_realsense_node.h" using namespace realsense2_camera; From 82efecd4fa37a772dfa40ff2f0a7227ce14c3a96 Mon Sep 17 00:00:00 2001 From: Nir-Az Date: Wed, 23 Mar 2022 10:43:14 +0200 Subject: [PATCH 86/94] update ros2 branch direction --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 70732d0a6..67119321c 100644 --- a/README.md +++ b/README.md @@ -3,7 +3,7 @@ These are packages for using Intel RealSense cameras (D400 series SR300 camera a This version supports Kinetic, Melodic and Noetic distributions. -For running in ROS2 environment please switch to the [ros2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2).
+For running in ROS2 environment please switch to the [ros2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2-beta).
LibRealSense2 supported version: v2.50.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) From fb296756acab9ce81113b6ce77c2dbe201a84917 Mon Sep 17 00:00:00 2001 From: Stephen McDowell Date: Thu, 14 Apr 2022 11:36:20 -0400 Subject: [PATCH 87/94] [doc] minor spelling and grammar fix --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 67119321c..b891ed370 100644 --- a/README.md +++ b/README.md @@ -31,7 +31,7 @@ LibRealSense2 supported version: v2.50.0 (see [realsense2_camera release notes]( This will install both realsense2_camera and its dependents, including librealsense2 library and matching udev-rules. Notice: - * The version of librealsense2 is almost always behind the one availeable in RealSense™ official repository. + * The version of librealsense2 is almost always behind the one available in the RealSense™ official repository. * librealsense2 is not built to use native v4l2 driver but the less stable RS-USB protocol. That is because the last is more general and operational on a larger variety of platforms. * realsense2_description is available as a separate debian package of ROS distribution. It includes the 3D-models of the devices and is necessary for running launch files that include these models (i.e. rs_d435_camera_with_model.launch). It can be installed by typing: `sudo apt-get install ros-$ROS_DISTRO-realsense2-description` From 3e309ded6932b948cb9a13a948f3b19388fc9eca Mon Sep 17 00:00:00 2001 From: SamerKhshiboun Date: Mon, 31 Oct 2022 13:35:54 +0200 Subject: [PATCH 88/94] rename development to ros1-legacy --- .github/workflows/main.yml | 6 +++--- README.md | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 09bc28ed3..fb1b43204 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -4,11 +4,11 @@ name: CI # Controls when the workflow will run on: - # Triggers the workflow on push or pull request events but only for the development branch + # Triggers the workflow on push or pull request events but only for the ros1-legacy branch push: - branches: [ development ] + branches: [ ros1-legacy ] pull_request: - branches: [ development ] + branches: [ ros1-legacy ] # Allows you to run this workflow manually from the Actions tab workflow_dispatch: diff --git a/README.md b/README.md index 67119321c..a953987bf 100644 --- a/README.md +++ b/README.md @@ -3,7 +3,7 @@ These are packages for using Intel RealSense cameras (D400 series SR300 camera a This version supports Kinetic, Melodic and Noetic distributions. -For running in ROS2 environment please switch to the [ros2 branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2-beta).
+For running in ROS2 environment please switch to the [ros2-development branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2-development).
LibRealSense2 supported version: v2.50.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) @@ -41,7 +41,7 @@ LibRealSense2 supported version: v2.50.0 (see [realsense2_camera release notes]( **Chocolatey distribution Coming soon** * ### Method 2: The RealSense™ distribution: - > This option is demonstrated in the [.travis.yml](https://github.com/intel-ros/realsense/blob/development/.travis.yml) file. It basically summerize the elaborate instructions in the following 2 steps: + > This option is demonstrated in the [.travis.yml](https://github.com/intel-ros/realsense/blob/ros1-legacy/.travis.yml) file. It basically summerize the elaborate instructions in the following 2 steps: ### Step 1: Install the latest Intel® RealSense™ SDK 2.0 From 6f68b90559dcaf435f1fe9470a20642bd0d11326 Mon Sep 17 00:00:00 2001 From: JunlinWang <114377159+HenryWJL@users.noreply.github.com> Date: Sat, 26 Nov 2022 21:15:35 -0500 Subject: [PATCH 89/94] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index a953987bf..3a2f5cb71 100644 --- a/README.md +++ b/README.md @@ -209,7 +209,7 @@ Setting *unite_imu_method* creates a new topic, *imu*, that replaces the default ### Available services: - reset : Cause a hardware reset of the device. Usage: `rosservice call /camera/realsense2_camera/reset` - enable : Start/Stop all streaming sensors. Usage example: `rosservice call /camera/enable False"` -- device_info : retrieve information about the device - serial_number, firmware_version etc. Type `osservice type /camera/realsense2_camera/device_info | rossrv show` for the full list. Call example: `rosservice call /camera/realsense2_camera/device_info` +- device_info : retrieve information about the device - serial_number, firmware_version etc. Type `rosservice type /camera/realsense2_camera/device_info | rossrv show` for the full list. Call example: `rosservice call /camera/realsense2_camera/device_info` ### Point Cloud Here is an example of how to start the camera node and make it publish the point cloud using the pointcloud option. From 0d17ab544b69d8a4a216a054a032990b685d61e0 Mon Sep 17 00:00:00 2001 From: rjwb1 Date: Wed, 23 Mar 2022 19:27:27 +0000 Subject: [PATCH 90/94] update d405 HWID --- realsense2_camera/include/realsense2_camera/constants.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense2_camera/include/realsense2_camera/constants.h b/realsense2_camera/include/realsense2_camera/constants.h index 3d31a7a4b..12c3b43d3 100644 --- a/realsense2_camera/include/realsense2_camera/constants.h +++ b/realsense2_camera/include/realsense2_camera/constants.h @@ -34,7 +34,7 @@ namespace realsense2_camera const uint16_t RS435i_RGB_PID = 0x0B3A; // AWGC_MM const uint16_t RS465_PID = 0x0b4d; // D465 const uint16_t RS416_RGB_PID = 0x0B52; // F416 RGB - const uint16_t RS405_PID = 0x0b0c; // DS5U + const uint16_t RS405_PID = 0x0B5B; // DS5U const uint16_t RS455_PID = 0x0B5C; // D455 const uint16_t RS_T265_PID = 0x0b37; // const uint16_t RS_L515_PID_PRE_PRQ = 0x0B3D; // From fb3a3a11c7d3d3c28ecf866765b60c8e32865685 Mon Sep 17 00:00:00 2001 From: Nir Azkiel Date: Tue, 2 Jan 2024 13:57:40 +0200 Subject: [PATCH 91/94] Update GHA ros-tooling to version 0.7 --- .github/workflows/main.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index fb1b43204..3cfb85529 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -32,7 +32,7 @@ jobs: _python: 'python' steps: - - uses: ros-tooling/setup-ros@v0.2 + - uses: ros-tooling/setup-ros@v0.7 with: required-ros-distributions: ${{ matrix.ros_distro }} From 7be7e4bbaa2355799a8f9aa014a8a8ca20b06304 Mon Sep 17 00:00:00 2001 From: Nir Azkiel Date: Tue, 2 Jan 2024 14:06:16 +0200 Subject: [PATCH 92/94] Remove EOL ROS1 melodic from GHA --- .github/workflows/main.yml | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 3cfb85529..55fe8e95b 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -22,14 +22,11 @@ jobs: strategy: fail-fast: false matrix: - os: [ubuntu-20.04, ubuntu-18.04] + os: [ubuntu-20.04] include: - os: ubuntu-20.04 ros_distro: 'noetic' _python: 'python3' - - os: ubuntu-18.04 - ros_distro: 'melodic' - _python: 'python' steps: - uses: ros-tooling/setup-ros@v0.7 From 2b5f29eb0bf1976b146622624d3032685d4e9575 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 26 Oct 2023 17:00:02 +0200 Subject: [PATCH 93/94] Don't enforce C++11 standard The default in Ubuntu 18.04 and 20.04 is C++14. Ubuntu 22.04 uses C++17 as the gcc default, which is required by log4cxx there. --- realsense2_camera/CMakeLists.txt | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt index a0a8deba6..2e516b7e2 100644 --- a/realsense2_camera/CMakeLists.txt +++ b/realsense2_camera/CMakeLists.txt @@ -1,6 +1,5 @@ cmake_minimum_required(VERSION 2.8.3) project(realsense2_camera) -add_compile_options(-std=c++11) option(BUILD_WITH_OPENMP "Use OpenMP" OFF) option(SET_USER_BREAK_AT_STARTUP "Set user wait point in startup (for debug)" OFF) @@ -62,7 +61,7 @@ endif() if (WIN32) else() -set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}") +set(CMAKE_CXX_FLAGS "-fPIE -fPIC -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}") endif() add_message_files( From 5ad31d1a9cf413cec0687cac3415223913821859 Mon Sep 17 00:00:00 2001 From: Takaaki Numai Date: Mon, 22 Apr 2024 16:28:20 +0900 Subject: [PATCH 94/94] Fix collision offset --- realsense2_description/urdf/_d435.urdf.xacro | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/realsense2_description/urdf/_d435.urdf.xacro b/realsense2_description/urdf/_d435.urdf.xacro index 5593cbc33..92f17b912 100644 --- a/realsense2_description/urdf/_d435.urdf.xacro +++ b/realsense2_description/urdf/_d435.urdf.xacro @@ -74,7 +74,7 @@ aluminum peripherial evaluation case. - +