diff --git a/.gitignore b/.gitignore index 6259391948..1f5220ba76 100644 --- a/.gitignore +++ b/.gitignore @@ -8,3 +8,8 @@ # Ignore all Linux Editor revision save files *~ +# Ignore all hidden files +.project +.cproject +.settings + diff --git a/README.md b/README.md index 63bc061a88..610271fd88 100644 --- a/README.md +++ b/README.md @@ -1,21 +1,9 @@ -# ros -ROS Development +# Intel® RealSense™ ROS +These are packages for using Intel RealSense cameras with ROS. +www.intel.com/realsense -## Usage -* Setup for ROS +www.ros.org - `source /opt/ros/`*``*`/setup.bash` -* Create your Catkin Workspace - - `mkdir catkin_ws` -* Clone the repository as the `src` directory - - `git clone https://github.com/otcshare/ros-realsense.git src` -* Build the Nodes - - `catkin_make` -* Setup to use newly build Nodes - - `source devel/setup.bash` +Refer to the README.md file within each package for more details. diff --git a/camera/.cproject b/camera/.cproject deleted file mode 100644 index 7775a24d88..0000000000 --- a/camera/.cproject +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/camera/.project b/camera/.project deleted file mode 100644 index da529c3a53..0000000000 --- a/camera/.project +++ /dev/null @@ -1,71 +0,0 @@ - - - realsense_ros - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - ?name? - - - - org.eclipse.cdt.make.core.append_environment - true - - - org.eclipse.cdt.make.core.buildArguments - - - - org.eclipse.cdt.make.core.buildCommand - make - - - org.eclipse.cdt.make.core.buildLocation - ${workspace_loc:/ds4_camera/Default} - - - org.eclipse.cdt.make.core.contents - org.eclipse.cdt.make.core.activeConfigSettings - - - org.eclipse.cdt.make.core.enableAutoBuild - false - - - org.eclipse.cdt.make.core.enableCleanBuild - true - - - org.eclipse.cdt.make.core.enableFullBuild - true - - - org.eclipse.cdt.make.core.stopOnError - true - - - org.eclipse.cdt.make.core.useDefaultBuildCmd - true - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - diff --git a/camera/.settings/org.eclipse.cdt.managedbuilder.core.prefs b/camera/.settings/org.eclipse.cdt.managedbuilder.core.prefs deleted file mode 100644 index 820b971dc1..0000000000 --- a/camera/.settings/org.eclipse.cdt.managedbuilder.core.prefs +++ /dev/null @@ -1,14 +0,0 @@ -eclipse.preferences.version=1 -environment/buildEnvironmentInclude/0.451674452/CPATH/delimiter=\: -environment/buildEnvironmentInclude/0.451674452/CPATH/operation=replace -environment/buildEnvironmentInclude/0.451674452/CPATH/value=/home/turtlebot/workspace/3AM/ROS_Nodes/catkin_tb/devel/include\:/opt/ros/indigo/include -environment/buildEnvironmentInclude/0.451674452/CPLUS_INCLUDE_PATH/delimiter=\: -environment/buildEnvironmentInclude/0.451674452/CPLUS_INCLUDE_PATH/operation=remove -environment/buildEnvironmentInclude/0.451674452/C_INCLUDE_PATH/delimiter=\: -environment/buildEnvironmentInclude/0.451674452/C_INCLUDE_PATH/operation=remove -environment/buildEnvironmentInclude/0.451674452/append=true -environment/buildEnvironmentInclude/0.451674452/appendContributed=true -environment/buildEnvironmentLibrary/0.451674452/LIBRARY_PATH/delimiter=\: -environment/buildEnvironmentLibrary/0.451674452/LIBRARY_PATH/operation=remove -environment/buildEnvironmentLibrary/0.451674452/append=true -environment/buildEnvironmentLibrary/0.451674452/appendContributed=true diff --git a/camera/.settings/org.eclipse.cdt.ui.prefs b/camera/.settings/org.eclipse.cdt.ui.prefs deleted file mode 100644 index 4ee12a4ba7..0000000000 --- a/camera/.settings/org.eclipse.cdt.ui.prefs +++ /dev/null @@ -1,2 +0,0 @@ -eclipse.preferences.version=1 -formatter_settings_version=1 diff --git a/camera/CMakeLists.txt b/camera/CMakeLists.txt index 42e6acc0e2..29dc548ee9 100644 --- a/camera/CMakeLists.txt +++ b/camera/CMakeLists.txt @@ -2,11 +2,20 @@ cmake_minimum_required(VERSION 2.8.3) project(realsense_camera) -set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}") +# Save the command line compile commands in the build output +set(CMAKE_EXPORT_COMPILE_COMMANDS 1) +# View the makefile commands during build +#set(CMAKE_VERBOSE_MAKEFILE on) + +set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -O2 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}") +# Flags executables +set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now") +# Flags shared libraries +set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now") find_package(catkin REQUIRED COMPONENTS + dynamic_reconfigure roscpp - rospy nodelet cv_bridge image_transport @@ -29,6 +38,13 @@ generate_messages( std_msgs ) +#add dynamic reconfigure api +generate_dynamic_reconfigure_options( + cfg/camera_params.cfg +) + + + include_directories( ${catkin_INCLUDE_DIRS} ) @@ -38,9 +54,18 @@ target_link_libraries(realsense_camera_nodelet ${catkin_LIBRARIES} /usr/local/lib/librealsense.so ) +add_dependencies(realsense_camera_nodelet realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg) add_executable(realsense_camera_test test/realsense_camera_test_node.cpp) target_link_libraries(realsense_camera_test ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ) +add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg) + +add_executable(realsense_camera_test_rgbd test/realsense_camera_test_rgbd_node.cpp) +target_link_libraries(realsense_camera_test_rgbd + ${catkin_LIBRARIES} + ${GTEST_LIBRARIES} +) +add_dependencies(realsense_camera_test_rgbd realsense_camera_generate_messages_cpp) diff --git a/camera/README.md b/camera/README.md index 3f82ce9f53..46959655a1 100644 --- a/camera/README.md +++ b/camera/README.md @@ -4,27 +4,29 @@ ###Installation #####Getting the camera to work on Linux -* Clone the source from the librealsense git repository https://github.intel.com/PerCSystemsEngineering/librealsense. -* Follow the instructions at https://github.intel.com/PerCSystemsEngineering/librealsense/blob/master/doc/installation.md. +* Clone the source from the librealsense git repository https://github.com/IntelRealSense/librealsense.git and follow the "Installation Guide" for installing the library. * Make sure that the software stack is installed properly and that the camera is working. This can be checked by connecting the camera to a USB3 port and running the "cpp-capture" sample program in the "librealsense/bin" folder. If this does not work, you should first fix this issue before continuing with the ROS integration. -* Make sure /usr/local/lib is in your LD__LIBRARY_PATH. +* Make sure "/usr/local/lib" is set in your "LD_LIBRARY_PATH". +* Copy the librealsense header files folder "librealsense/include/librealsense" to "/usr/local/include". + + E.g. sudo cp -r \/include/librealsense /usr/local/include + #####Building package: -* Follow the steps in the README.md file of the ros repository. Setup ROS and create a local catkin workspace. -* To compile just realsense package, instead of catkin_make, execute following command - catkin_make --pkg realsense +* Setup ROS and create a local catkin workspace. +* Compile the realsense_camera package by executing the catkin_make command. -Successful execution of command will build target “r200_camera_nodelet” +Successful execution of command will build target “realsense_camera_nodelet” -Sample launch files are available in realsense/launch directory +Sample launch files are available in camera/launch directory -realsense_r200_launch_preset.launch +realsense_r200_rgbd.launch -realsense_r200_launch_manual.launch +realsense_r200_nodelet_standalone_preset.launch -realsense_r200_launch_settings.launch +realsense_r200_nodelet_standalone_manual.launch ### Intel® RealSense™ R200 Nodelet Publishing stream data from the Intel® RealSense™ R200 (DS4) camera @@ -32,7 +34,7 @@ Publishing stream data from the Intel® RealSense™ R200 (DS4) camera #### Subscribed Topics None -#### Published Topics +#### Published Topics (default) Color camera @@ -62,7 +64,13 @@ Infrared2 camera camera/infrared2/camera_info Calibration data -####Parameters +#### Transform Frames + The following command creates a pdf file that describes the transforms generated by the camera nodelet. You may refer to the [ROS tf wiki](http://wiki.ros.org/tf) for more commands. + + rosrun tf tf_monitor + + +#### Static Parameters mode (string, default: preset) Specify the mode to start camera streams. Mode comprises of height, width and fps. @@ -79,36 +87,21 @@ Infrared2 camera Specify the color camera FPS depth_fps (int, default: 60) Specify the depth camera FPS - enable_depth (bool, default: 1) - Specify if to enable or not the depth camera. 1 is true. 0 is false. - enable_color (bool, default: 1) - Specify if to enable or not the color camera. 1 is true. 0 is false. - enable_pointcloud (bool, default: 1) - Specify if to enable or not the point cloud camera. 1 is true. 0 is false. + enable_depth (bool, default: true) + Specify if to enable or not the depth camera. + enable_color (bool, default: true) + Specify if to enable or not the color camera. + enable_pointcloud (bool, default: true) + Specify if to enable or not the point cloud camera. + enable_tf (bool, default: true) + Specify if to enable or not the transform frames. camera (string, default: "R200") Specify the camera name. - Supported options: Here are r200 camera supported options that can be set - COLOR_BACKLIGHT_COMPENSATION : [0, 4] - COLOR_BRIGHTNESS : [0, 255] - COLOR_CONTRAST : [16, 64] - COLOR_EXPOSURE : [0, 0] - COLOR_GAIN : [0, 256] - COLOR_GAMMA : [100, 280] - COLOR_HUE : [-2200, 2200] - COLOR_SATURATION : [0, 255] - COLOR_SHARPNESS : [0, 7] - COLOR_WHITE_BALANCE : [2000, 8000] - COLOR_ENABLE_AUTO_EXPOSURE : [0, 0] - COLOR_ENABLE_AUTO_WHITE_BALANCE : [0, 1] - R200_LR_AUTO_EXPOSURE_ENABLED : [0, 1] - R200_LR_GAIN : [100, 1600] - R200_LR_EXPOSURE : [0, 333] - R200_EMITTER_ENABLED : [0, 1] + Supported options: Following are the options supported by the R200 camera: R200_DEPTH_CONTROL_PRESET : [0, 5] R200_DEPTH_UNITS : [1, 2147483647] R200_DEPTH_CLAMP_MIN : [0, 65535] R200_DEPTH_CLAMP_MAX : [0, 65535] - R200_DISPARITY_MULTIPLIER : [1, 1000] R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : [0 - 255] R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : [0 - 255] R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : [0 - 1023] @@ -122,43 +115,89 @@ Infrared2 camera ####Services get_settings (camera/get_settings) - To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. - + +To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. + +####Dynamic Parameters + List of dynamically configurable camera options: + + COLOR_BACKLIGHT_COMPENSATION + COLOR_BRIGHTNESS + COLOR_CONTRAST + COLOR_GAIN + COLOR_GAMMA + COLOR_HUE + COLOR_SATURATION + COLOR_SHARPNESS + COLOR_WHITE_BALANCE + COLOR_ENABLE_AUTO_WHITE_BALANCE + R200_LR_AUTO_EXPOSURE_ENABLED + R200_LR_GAIN + R200_LR_EXPOSURE + R200_EMITTER_ENABLED + R200_DISPARITY_MULTIPLIER + R200_AUTO_EXPOSURE_TOP_EDGE + R200_AUTO_EXPOSURE_BOTTOM_EDGE + R200_AUTO_EXPOSURE_LEFT_EDGE + R200_AUTO_EXPOSURE_RIGHT_EDGE + +Use rqt_reconfigure GUI to view and edit the parameters that are accessible via dynamic_reconfigure. + +Command to launch GUI: + + $ rosrun rqt_reconfigure rqt_reconfigure + +Change options commandline using following command: + + $ rosrun dynamic_reconfigure dynparam set / + E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet COLOR_BACKLIGHT_COMPENSATION 2 + +Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image. +E.g. For 320x240 infrared image, valid values are within 0-319 and 0-239) + +To change EDGE parameters, R200_LR_AUTO_EXPOSURE_ENABLED should be enabled. +To set R200_LR_EXPOSURE, R200_LR_AUTO_EXPOSURE_ENABLED should be disabled. +To set COLOR_WHITE_BALANCE, COLOR_ENABLE_AUTO_WHITE_BALANCE should be disabled. + ###Running the R200 nodelet -Type the following to launch the camera nodelet. You will notice the camera light up. +Use the following command to launch the camera nodelet. You will notice the camera light up. - $ roslaunch realsense realsense_r200_launch_preset.launch + $ roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch View using RVIZ: For color, infrared1 and infrared2 streams, you can open RVIZ and load the published topics. -For the point cloud steam, before loading its corresponding topic, set the camera_depth_optical_frame using following command: + +You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration1.rviz. +``` + $ roscd realsense_camera + $ rosrun rviz rviz -d rviz/realsenseRvizConfiguration1.rviz +``` +For the point cloud stream, before loading its corresponding topic, set the camera_depth_optical_frame using following command: $ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map camera_depth_optical_frame 100 -You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz. -![](docs/realsenseRvizScreenshot.png) View using other commands: -* For color stream +For color stream $ rosrun image_view image_view image:=/camera/color/image_raw -* For depth stream +For depth stream $ rostopic echo /camera/depth/image_raw $ rostopic echo /camera/depth/camera_info -* For pointcloud +For pointcloud $ rosrun pcl_ros convert_pointcloud_to_image input:=/camera/depth/points output:=/my_image $ rosrun image_view image_view image:=/my_image -* For viewing supported camera settings with current values: +For viewing supported camera settings with current values: $ rosservice call /camera/get_settings @@ -172,9 +211,50 @@ View using other commands: ** The ROS integration has been tested on a 64bit machine with Linux 14.04 (Trusty) and ROS Indigo. +###Unit Tests +The Unit Tests can be executed using either of the methods: + +Using rostest command with test files + + $ rostest realsense_camera + E.g. rostest realsense_camera realsense_r200_depth_only.test + +Using rosrun command + + $ roslaunch realsense_camera realsense_r200_nodelet_standalone_manual.launch + + $ rosrun realsense_camera realsense_camera_test + E.g. rosrun realsense_camera realsense_camera_test enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920 + +Sample test files are available in test directory + +realsense_r200_rgbd.test + +realsense_r200_color_only.test + +realsense_r200_depth_only.test + +realsense_r200_resolution.test + + +Both of these methods first starts "RealsenseNodelet" for Intel® RealSense™ R200 (DS4) camera and then executes all the unit tests. + +###Developer API: +Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_camera_nodelet.h) + + ###Limitations: -Currently camera ROS node supports following formats +Currently, the ROS camera nodelet only supports the following formats: * Color stream: RGB8 * Depth stream: Y16 * Infrared stream: Y8 +Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics: +/camera/depth_registered/hw_registered/image_rect_raw +/camera/depth_registered/points +/camera/depth_registered/hw_registered/image_rect +/camera/depth_registered/image +/camera/depth/disparity +/camera/depth_registered/disparity + + diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg new file mode 100755 index 0000000000..ce1d2376f7 --- /dev/null +++ b/camera/cfg/camera_params.cfg @@ -0,0 +1,30 @@ +#!/usr/bin/env python + +PACKAGE="realsense_camera" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +# Name Type Level Description Default Min Max +gen.add("COLOR_BACKLIGHT_COMPENSATION", int_t, 0, "Backlight Compensation", 1, 0, 4) +gen.add("COLOR_BRIGHTNESS", int_t, 0, "Brightness", 56, 0, 255) +gen.add("COLOR_CONTRAST", int_t, 0, "Contrast", 32, 16, 64) +gen.add("COLOR_GAIN", int_t, 0, "Gain", 32, 0, 256) +gen.add("COLOR_GAMMA", int_t, 0, "Gamma", 220, 100, 280) +gen.add("COLOR_HUE", int_t, 0, "Hue", 0, -2200, 2200) +gen.add("COLOR_SATURATION", int_t, 0, "Saturation", 128, 0, 255) +gen.add("COLOR_SHARPNESS", int_t, 0, "Sharpness", 0, 0, 7) +gen.add("COLOR_WHITE_BALANCE", int_t, 0, "White Balance", 6500, 2000, 8000) +gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE", int_t, 0, "Enable Auto White Balance", 1, 0, 1) +gen.add("R200_LR_AUTO_EXPOSURE_ENABLED", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1) +gen.add("R200_LR_GAIN", int_t, 0, "LR Gain", 400, 100, 6399) +gen.add("R200_LR_EXPOSURE", int_t, 0, "LR Exposure", 164, 1, 164) +gen.add("R200_EMITTER_ENABLED", int_t, 0, "Emitter Enabled", 1, 0, 1) +gen.add("R200_DISPARITY_MULTIPLIER", int_t, 0, "Disparity Multiplier", 32, 1, 1000) +gen.add("R200_AUTO_EXPOSURE_TOP_EDGE", int_t, 0, "Auto Exposure Top Edge", 0, 0, 479) +gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE", int_t, 0, "Auto Exposure Bottom Edge", 479, 0, 479) +gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE", int_t, 0, "Auto Exposure Left Edge", 0, 0, 639) +gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE", int_t, 0, "Auto Exposure Right Edge", 639, 0, 639) + +exit(gen.generate(PACKAGE, "realsense_camera", "camera_params")) diff --git a/camera/docs/RealSense-ROS-R200-nodelet.html b/camera/docs/RealSense-ROS-R200-nodelet.html deleted file mode 100644 index 2d9668a531..0000000000 --- a/camera/docs/RealSense-ROS-R200-nodelet.html +++ /dev/null @@ -1,113 +0,0 @@ -

Intel RealSense Technology - ROS Integration

-

(ROS Indigo + Ubuntu 14.04 [64-bit])

-

Installation

-
Getting the camera to work on Linux
-

Please make sure that you have a working camera and that the software stack is installed properly. This can be checked by connecting the camera (to a USB3 port) and running one of the provided librealsense samples. If this does not work, you should first fix this issue before continuing with the ROS integration.

-
Building package:
-
    -
  • Follow the steps in the README.md file of the ros repository. Setup ROS and create a local catkin workspace.
    • -
  • To compile just realsense package, instead of catkin_make, execute following command catkin_make --pkg realsense
    • -
-

Successful execution of command will build target “r200_camera_nodelet”

-

Sample launch files are available in realsense/launch directory

-

realsense_r200_launch_preset.launch

-

realsense_r200_launch_manual.launch

-

Intel RealSense R200 Nodelet

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Publishing stream data from the Intel RealSense R200 (DS4) camera

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Subscribed Topics

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None
-

Publisehd Topics

-

Color camera

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camera/color/image_raw (sensor_msgs/Image)
-    Color rectified image. RGB format.
-camera/color/camera_info
-    Calibration data
-

Depth camera

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camera/depth/image_raw (sensor_msgs/Image)
-    uint16 depths in mm
-camera/depth/camera_info
-    Calibration data
-camera/depth/points (sensor_msgs/PointCloud2)
-    Registered XYZRGB point cloud.
-

Infrared camera

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camera/infrared1/image_raw (sensor_msgs/Image)
-camera/infrared1/camera_info
-    Calibration data
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Infrared2 camera

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camera/infrared2/image_raw (sensor_msgs/Image)
-camera/infrared2/camera_info
-    Calibration data
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Parameters

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Mode (string, default: preset)
-Specify mode to start camera streams with. Preset mode starts all streams with defaults values for each stream’s width/height and FPS. In Manual mode, camera streams will be set with resolution and FPS values passed.
-cHeight (int, default: 480)
-    Specify the color camera height resolution.
-cWidth (int, default: 640)
-    Specify the color camera width resolution.
-dHeight (int, default: 360)
-    Specify the depth camera height resolution.
-dWidth (int, default: 480)
-    Specify the depth camera width resolution.
-cFPS (int, default: 60)
-    Specify the color camera FPS
-dFPS (int, default: 60)
-    Specify the depth camera FPS
-enableDepth (bool, default: 1) 
-    Specify if to enable or not the depth camera. 1 is true. 0 is false.
-enableColor (bool, default: 1) 
-    Specify if to enable or not the color camera. 1 is true. 0 is false.
-enablePointCloud (bool, default: 1) 
-    Specify if to enable or not the point cloud camera. 1 is true. 0 is false.
-Supported options: Here are r200 camera supported options that can be set
-    COLOR_BACKLIGHT_COMPENSATION : [0, 4]
-    COLOR_BRIGHTNESS : [0, 255]
-    COLOR_CONTRAST : [16, 64]
-    COLOR_EXPOSURE : [0, 0]
-    COLOR_GAIN : [0, 256]
-    COLOR_GAMMA : [100, 280]
-    COLOR_HUE : [-2200, 2200]
-    COLOR_SATURATION : [0, 255]
-    COLOR_SHARPNESS : [0, 7]
-    COLOR_WHITE_BALANCE : [2000, 8000]
-    COLOR_ENABLE_AUTO_EXPOSURE : [0, 0]
-    COLOR_ENABLE_AUTO_WHITE_BALANCE : [0, 1]
-    R200_LR_AUTO_EXPOSURE_ENABLED : [0, 1]
-    R200_LR_GAIN : [100, 1600]
-    R200_LR_EXPOSURE : [0, 333]
-    R200_EMITTER_ENABLED : [0, 1]
-    R200_DEPTH_CONTROL_PRESET : [0, 5]
-    R200_DEPTH_UNITS : [1, 2147483647]
-    R200_DEPTH_CLAMP_MIN : [0, 65535]
-    R200_DEPTH_CLAMP_MAX : [0, 65535]
-    R200_DISPARITY_MULTIPLIER : [1, 1000]
-    R200_DISPARITY_SHIFT : [0, 0]
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Services

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None
-

Running the R200 nodelet

-

Simply type:

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$ roslaunch realsense realsense_r200_launch.launch
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This will launch the camera nodelet. You will see the camera lights up.

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For color, infrared1 and infrared2 streams, you can open RVIZ and load the published topics.

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You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz.

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Other commands to view streams:

-
    -

  • For Color stream

    -

    $ rosrun image_view image_view image:=/camera/color/image_raw

    • -

  • For depth stream

    • -
-

Verified data and other info by rostopic echo command for image_raw and camera_info.

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$ rostopic echo /camera/depth/image_raw
-$ rostopic echo /camera/depth/camera_info
-
    -
  • For pointcloud
    • -
-

To view it in rviz, set camera_depth_optical_frame using following command:

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$ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map camera_depth_optical_frame 100
-

To view it using image_view:

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$ rosrun pcl_ros convert_pointcloud_to_image input:=/camera/depth/points output:=/my_image
-$ rosrun image_view image_view image:=/my_image
-

Tech and dependencies * librealsense.so

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System: * Linux 14.04+ * ROS Indigo * R200 (DS4) camera

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** The ROS integration has been tested on a 64bit machine with Linux 14.04 (Trusty) and ROS Indigo.

-

Limitations:

-

Currently camera ROS node supports following formats * Color stream: RGB8 * Depth stream: Y16 * Infrared stream: Y8

diff --git a/camera/docs/RealSense-ROS-R200-nodelet.md b/camera/docs/RealSense-ROS-R200-nodelet.md deleted file mode 100644 index 3f82ce9f53..0000000000 --- a/camera/docs/RealSense-ROS-R200-nodelet.md +++ /dev/null @@ -1,180 +0,0 @@ -#Intel® RealSense™ Technology - ROS Integration - -###(ROS Indigo + Ubuntu 14.04 [64-bit]) -###Installation -#####Getting the camera to work on Linux - -* Clone the source from the librealsense git repository https://github.intel.com/PerCSystemsEngineering/librealsense. -* Follow the instructions at https://github.intel.com/PerCSystemsEngineering/librealsense/blob/master/doc/installation.md. -* Make sure that the software stack is installed properly and that the camera is working. This can be checked by connecting the camera to a USB3 port and running the "cpp-capture" sample program in the "librealsense/bin" folder. -If this does not work, you should first fix this issue before continuing with the ROS integration. -* Make sure /usr/local/lib is in your LD__LIBRARY_PATH. - -#####Building package: - -* Follow the steps in the README.md file of the ros repository. Setup ROS and create a local catkin workspace. -* To compile just realsense package, instead of catkin_make, execute following command - catkin_make --pkg realsense - -Successful execution of command will build target “r200_camera_nodelet” - -Sample launch files are available in realsense/launch directory - -realsense_r200_launch_preset.launch - -realsense_r200_launch_manual.launch - -realsense_r200_launch_settings.launch - -### Intel® RealSense™ R200 Nodelet -Publishing stream data from the Intel® RealSense™ R200 (DS4) camera - -#### Subscribed Topics - None - -#### Published Topics - -Color camera - - camera/color/image_raw (sensor_msgs/Image) - Color rectified image. RGB format. - camera/color/camera_info - Calibration data - -Depth camera - - camera/depth/image_raw (sensor_msgs/Image) - uint16 depths in mm - camera/depth/camera_info - Calibration data - camera/depth/points (sensor_msgs/PointCloud2) - Registered XYZRGB point cloud. - -Infrared1 camera - - camera/infrared1/image_raw (sensor_msgs/Image) - camera/infrared1/camera_info - Calibration data - -Infrared2 camera - - camera/infrared2/image_raw (sensor_msgs/Image) - camera/infrared2/camera_info - Calibration data - -####Parameters - - mode (string, default: preset) - Specify the mode to start camera streams. Mode comprises of height, width and fps. - Preset mode enables default values whereas Manual mode enables the specified parameter values. - color_height (int, default: 480) - Specify the color camera height resolution. - color_width (int, default: 640) - Specify the color camera width resolution. - depth_height (int, default: 360) - Specify the depth camera height resolution. - depth_width (int, default: 480) - Specify the depth camera width resolution. - depth_fps (int, default: 60) - Specify the color camera FPS - depth_fps (int, default: 60) - Specify the depth camera FPS - enable_depth (bool, default: 1) - Specify if to enable or not the depth camera. 1 is true. 0 is false. - enable_color (bool, default: 1) - Specify if to enable or not the color camera. 1 is true. 0 is false. - enable_pointcloud (bool, default: 1) - Specify if to enable or not the point cloud camera. 1 is true. 0 is false. - camera (string, default: "R200") - Specify the camera name. - Supported options: Here are r200 camera supported options that can be set - COLOR_BACKLIGHT_COMPENSATION : [0, 4] - COLOR_BRIGHTNESS : [0, 255] - COLOR_CONTRAST : [16, 64] - COLOR_EXPOSURE : [0, 0] - COLOR_GAIN : [0, 256] - COLOR_GAMMA : [100, 280] - COLOR_HUE : [-2200, 2200] - COLOR_SATURATION : [0, 255] - COLOR_SHARPNESS : [0, 7] - COLOR_WHITE_BALANCE : [2000, 8000] - COLOR_ENABLE_AUTO_EXPOSURE : [0, 0] - COLOR_ENABLE_AUTO_WHITE_BALANCE : [0, 1] - R200_LR_AUTO_EXPOSURE_ENABLED : [0, 1] - R200_LR_GAIN : [100, 1600] - R200_LR_EXPOSURE : [0, 333] - R200_EMITTER_ENABLED : [0, 1] - R200_DEPTH_CONTROL_PRESET : [0, 5] - R200_DEPTH_UNITS : [1, 2147483647] - R200_DEPTH_CLAMP_MIN : [0, 65535] - R200_DEPTH_CLAMP_MAX : [0, 65535] - R200_DISPARITY_MULTIPLIER : [1, 1000] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : [0 - 255] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : [0 - 255] - R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD : [0 - 31] - R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_LR_THRESHOLD : [0 - 2047] - -####Services - get_settings (camera/get_settings) - To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon. - - -###Running the R200 nodelet - -Type the following to launch the camera nodelet. You will notice the camera light up. - - $ roslaunch realsense realsense_r200_launch_preset.launch - -View using RVIZ: - -For color, infrared1 and infrared2 streams, you can open RVIZ and load the published topics. -For the point cloud steam, before loading its corresponding topic, set the camera_depth_optical_frame using following command: - - $ rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0 0.0 map camera_depth_optical_frame 100 - -You can also open RVIZ and load the provided RVIZ configuration file: realsenseRvizConfiguration.rviz. -![](docs/realsenseRvizScreenshot.png) - -View using other commands: -* For color stream - - $ rosrun image_view image_view image:=/camera/color/image_raw - -* For depth stream - - $ rostopic echo /camera/depth/image_raw - - $ rostopic echo /camera/depth/camera_info - -* For pointcloud - - $ rosrun pcl_ros convert_pointcloud_to_image input:=/camera/depth/points output:=/my_image - - $ rosrun image_view image_view image:=/my_image - -* For viewing supported camera settings with current values: - - $ rosservice call /camera/get_settings - -Tech and dependencies -* librealsense.so - -System: -* Linux 14.04+ -* ROS Indigo -* R200 (DS4) camera - -** The ROS integration has been tested on a 64bit machine with Linux 14.04 (Trusty) and ROS Indigo. - -###Limitations: -Currently camera ROS node supports following formats -* Color stream: RGB8 -* Depth stream: Y16 -* Infrared stream: Y8 - diff --git a/camera/docs/realsenseRvizScreenshot.png b/camera/docs/realsenseRvizScreenshot.png deleted file mode 100644 index 40e3d8663f..0000000000 Binary files a/camera/docs/realsenseRvizScreenshot.png and /dev/null differ diff --git a/camera/launch/includes/realsense_r200_nodelet.launch.xml b/camera/launch/includes/realsense_r200_nodelet.launch.xml new file mode 100644 index 0000000000..2fac0ac011 --- /dev/null +++ b/camera/launch/includes/realsense_r200_nodelet.launch.xml @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/launch/realsense_r200_launch_settings.launch b/camera/launch/realsense_r200_launch_settings.launch deleted file mode 100644 index 675c9c7ba3..0000000000 --- a/camera/launch/realsense_r200_launch_settings.launch +++ /dev/null @@ -1,75 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/camera/launch/realsense_r200_navigation.launch b/camera/launch/realsense_r200_navigation.launch new file mode 100644 index 0000000000..f32469053d --- /dev/null +++ b/camera/launch/realsense_r200_navigation.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + diff --git a/camera/launch/realsense_r200_launch_manual.launch b/camera/launch/realsense_r200_nodelet_standalone_manual.launch similarity index 84% rename from camera/launch/realsense_r200_launch_manual.launch rename to camera/launch/realsense_r200_nodelet_standalone_manual.launch index f931bdab64..f07e0fe0a4 100644 --- a/camera/launch/realsense_r200_launch_manual.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_manual.launch @@ -5,9 +5,10 @@ - - - + + + + diff --git a/camera/launch/realsense_r200_launch_preset.launch b/camera/launch/realsense_r200_nodelet_standalone_preset.launch similarity index 59% rename from camera/launch/realsense_r200_launch_preset.launch rename to camera/launch/realsense_r200_nodelet_standalone_preset.launch index a1a00ed2ce..f39e99e09c 100644 --- a/camera/launch/realsense_r200_launch_preset.launch +++ b/camera/launch/realsense_r200_nodelet_standalone_preset.launch @@ -1,18 +1,20 @@ - - - + + + + + enable_color $(arg enable_color) + enable_pointcloud $(arg enable_pointcloud) + enable_tf $(arg enable_tf)"> - + diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch new file mode 100644 index 0000000000..d0e207d34c --- /dev/null +++ b/camera/launch/realsense_r200_rgbd.launch @@ -0,0 +1,90 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/licenses/Intel OBL RealSense 3D Camera Alpha, Beta, Prototype Site License.htm b/camera/licenses/Intel OBL RealSense 3D Camera Alpha, Beta, Prototype Site License.htm deleted file mode 100644 index 0479020e0f..0000000000 --- a/camera/licenses/Intel OBL RealSense 3D Camera Alpha, Beta, Prototype Site License.htm +++ /dev/null @@ -1,395 +0,0 @@ - - - - - - - - - - - -
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- - - - diff --git a/camera/licenses/License.txt b/camera/licenses/License.txt new file mode 100644 index 0000000000..ec997c2e5f --- /dev/null +++ b/camera/licenses/License.txt @@ -0,0 +1,12 @@ +Copyright (c) 2016, Intel Corporation +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/camera/licenses/Licenses.txt b/camera/licenses/Licenses.txt deleted file mode 100644 index 14a0500a5e..0000000000 --- a/camera/licenses/Licenses.txt +++ /dev/null @@ -1,3 +0,0 @@ -OpenCV - http://opencv.org/license.html -ROS - http://www.ros.org/is-ros-for-me/ -libconfig++ - http://www.hyperrealm.com/libconfig/ \ No newline at end of file diff --git a/camera/licenses/ReadMe.txt b/camera/licenses/ReadMe.txt deleted file mode 100644 index eb71cd0e5d..0000000000 --- a/camera/licenses/ReadMe.txt +++ /dev/null @@ -1,8 +0,0 @@ -Copyright (c) 2016, Intel Corporation. - -This RealSense-ROS ("Software") is furnished under license and may only be used or copied in accordance with the terms of that license. -No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted by this document. -The Software is subject to change without notice, and should not be construed as a commitment by Intel Corporation to market, license, sell or support any product or technology. -Unless otherwise provided for in the license under which this Software is provided, the Software is provided AS IS, with no warranties of any kind, express or implied. -Except as expressly permitted by the Software license, neither Intel Corporation nor its suppliers assumes any responsibility or liability for any errors or inaccuracies that may appear herein. -Except as expressly permitted by the Software license, no part of the Software may be reproduced, stored in a retrieval system, transmitted in any form, or distributed by any means without the express written consent of Intel Corporation. \ No newline at end of file diff --git a/camera/navigation/turtlebot/README.md b/camera/navigation/turtlebot/README.md new file mode 100644 index 0000000000..d44d6c12c7 --- /dev/null +++ b/camera/navigation/turtlebot/README.md @@ -0,0 +1,122 @@ + + +# Navigation with Intel® RealSense™ **R200** camera +This document presents the transition from a **Kinect** to the **R200** for the ROS Navigation stack. +It assumes the **R200** drivers were already installed, and that the navigation using the Kinect is working. + +#### Document outline +Click on the following links to navigate this document + +- [Initial setup](#a-initial-setup) +- [Mapping](#b-mapping) +- [Navigation](#c-navigation) +- [Simulating a mapping](#d-simulating-a-mapping) + +## A - Initial setup + +First, make sure you have the latest versions of the ROS navigation stack. Specifically, check that the following packages are up-to-date: + +- **turtlebot_description** +- **turtlebot_bringup** + +Before being able to use the navigation stack with the **R200**, you need to set a few things up. + +The `install_realsense_navigation.sh` script (located in the `install_resources` folder) will do everything needed. It will place the required files in their respective locations. + +From now on, if you want to use the **R200** as your turtlebot 3d sensor, you need to change environment variables: + +```bash +export TURTLEBOT_3D_SENSOR=r200 +export TURTLEBOT_STACKS=minimal +``` + +To have quick shortcuts, consider pasting this code snippet in your `~/.bash_aliases` file: + +```bash +alias setr200='export TURTLEBOT_3D_SENSOR=r200 && export TURTLEBOT_STACKS=minimal' +alias setkinect='export TURTLEBOT_3D_SENSOR=kinect && export TURTLEBOT_STACKS=hexagons' +``` + +## B - Mapping + +The only difference from the kinect version of the navigation stack is that you need to start the camera driver before the navigation: `roslaunch realsense_camera realsense_r200_navigation.launch`. + +So, the normal flow would be : + +```bash +roslaunch turtlebot_bringup minimal.launch +roslaunch realsense_camera realsense_r200_navigation.launch +roslaunch realsense_navigation gmapping.launch +roslaunch turtlebot_rviz_launchers view_navigation.launch +``` + +You may also want to teleoperate the robot, for instance with the keyboard. + +![](doc/img/mapping_screen.png) + +Once you're done mapping, you can save the map with the following command: + +```bash +rosrun map_server map_saver -f +``` + +> Don't put an extension to your map name, the .*yaml* and .*pgm* files will be created accordingly in you `~/.ros` folder. If you want, you can also provide an absolute path. + + +## C - Navigation + +Once you have a map, you can start the navigation with the following commands + +```bash +roslaunch turtlebot_bringup minimal.launch +roslaunch realsense_camera realsense_r200_navigation.launch +roslaunch realsense_navigation navigation_demo.launch map:= +``` + +## D - Simulating a mapping +Now that you know how to map a room using the **R200**, you might need to repeat the process several times, to adjust all the parameters of the algorithm, or to test with depth enhancement. To avoid using the robot, we can simulate the scanning process (= robot moves + camera) thanks to **rosbag**. + +### 1. Recording a scan +The first thing to do is to record the scanning process. We will store in a *bag file* the required contents so we can later launch gmapping **on the same input data**. + +So we first need to start the turtlebot (+ the teleop of your choice) and the camera: + +```bash +roslaunch turtlebot_bringup minimal.launch +roslaunch realsense_camera realsense_r200_navigation.launch +``` + +Then, we will store the relevent topics in a bag file: + +* _/camera/depth/image_raw_ +* _/camera/depth/camera_info_ +* _/scan_ +* _/tf_ + +![](doc/img/bag_screen.png) +*You can visualize the bagfile with __rqt_bag__* + +> Note that we don't need to actually build the map, so calling gmapping is not necessary. But you can do it, to have an idea if you're not moving the robot too fast, for instance. + +```bash +rosbag record -O /camera/depth/image_raw /camera/depth/camera_info /mobile_base/commands/velocity /tf +``` + +You can now begin to move/teleop your robot around the room. Once you're done, kill first the rosbag record process, then the other nodes. + +### 2. Playing it back +From now on, you'll be able to simulate this mapping again. To do so, you should simply type this line in a terminal (without any other running node): + +```bash +roslaunch realsense_navigation simulate_mapping.launch bag_file:= +``` + +> The path to the bagfile is relative to the user `~` folder. To change this, use the *home* argument as follows: +> +> ```bash +> roslaunch realsense simulate_mapping.launch home:=/tmp bag_file:= +> ``` + +When the RVIZ window is up, you can press `SPACE` in your terminal to start the playback. + +Consider taking a look at the launchfile to see the different arguments. diff --git a/camera/navigation/turtlebot/doc/img/bag_screen.png b/camera/navigation/turtlebot/doc/img/bag_screen.png new file mode 100644 index 0000000000..ba66d73e7e Binary files /dev/null and b/camera/navigation/turtlebot/doc/img/bag_screen.png differ diff --git a/camera/navigation/turtlebot/doc/img/mapping_screen.png b/camera/navigation/turtlebot/doc/img/mapping_screen.png new file mode 100644 index 0000000000..1ef34ba4f2 Binary files /dev/null and b/camera/navigation/turtlebot/doc/img/mapping_screen.png differ diff --git a/camera/navigation/turtlebot/doc/img/screen-ds4-nav.png b/camera/navigation/turtlebot/doc/img/screen-ds4-nav.png new file mode 100644 index 0000000000..5770927d36 Binary files /dev/null and b/camera/navigation/turtlebot/doc/img/screen-ds4-nav.png differ diff --git a/camera/navigation/turtlebot/doc/style-doc.css b/camera/navigation/turtlebot/doc/style-doc.css new file mode 100644 index 0000000000..99c01e165a --- /dev/null +++ b/camera/navigation/turtlebot/doc/style-doc.css @@ -0,0 +1,46 @@ +/* Custom CSS for a better looking doc */ +body { + width: 60em; + outline-color: #eee; +} + +/* For smaller screens, adapt so it's still legible */ +@media screen and (max-width: 70em) { + body { + width: 40em; + } +} +@media screen and (max-width: 45em) { + body { + width: 90%; + } + + .markdown-body ul, .markdown-body ol { + padding-left: 1em; + } +} + +.markdown-body h1 { + text-align: center; + border-width: 4px; +} + +.markdown-body h1 small { + font-weight: normal; + +} + +.markdown-body h1 small:after { + content: ">"; + padding-left: 1em; + padding-right: 1em; +} + +.markdown-body hr { + background-color: #eee; +} + +.markdown-body .codehilite pre, .markdown-body pre { + background-color: #f0f0ed; +} + diff --git a/camera/navigation/turtlebot/install_realsense_navigation.sh b/camera/navigation/turtlebot/install_realsense_navigation.sh new file mode 100755 index 0000000000..c6707d6b42 --- /dev/null +++ b/camera/navigation/turtlebot/install_realsense_navigation.sh @@ -0,0 +1,10 @@ +#!/bin/bash + +# Installation script for realsense_navigation +# Requires root privileges + +sudo cp ./robot_description/kobuki_minimal_r200.urdf.xacro /opt/ros/$ROS_DISTRO/share/turtlebot_description/robots/ +sudo cp ./robot_description/r200.launch.xml /opt/ros/$ROS_DISTRO/share/turtlebot_bringup/launch/includes/3dsensor/ + +sudo mkdir -p /opt/ros/$ROS_DISTRO/share/realsense_navigation +sudo cp -r ./* /opt/ros/$ROS_DISTRO/share/realsense_navigation diff --git a/camera/navigation/turtlebot/launch/amcl.launch b/camera/navigation/turtlebot/launch/amcl.launch new file mode 100644 index 0000000000..8ca1b72d90 --- /dev/null +++ b/camera/navigation/turtlebot/launch/amcl.launch @@ -0,0 +1,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/navigation/turtlebot/launch/gmapping.launch b/camera/navigation/turtlebot/launch/gmapping.launch new file mode 100644 index 0000000000..7a306641ce --- /dev/null +++ b/camera/navigation/turtlebot/launch/gmapping.launch @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/navigation/turtlebot/launch/navigation_demo.launch b/camera/navigation/turtlebot/launch/navigation_demo.launch new file mode 100644 index 0000000000..bcef81f963 --- /dev/null +++ b/camera/navigation/turtlebot/launch/navigation_demo.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/navigation/turtlebot/launch/realsense_robot_description.launch b/camera/navigation/turtlebot/launch/realsense_robot_description.launch new file mode 100644 index 0000000000..575a5a50f7 --- /dev/null +++ b/camera/navigation/turtlebot/launch/realsense_robot_description.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/camera/navigation/turtlebot/launch/simulate_mapping.launch b/camera/navigation/turtlebot/launch/simulate_mapping.launch new file mode 100644 index 0000000000..c6bcc076a9 --- /dev/null +++ b/camera/navigation/turtlebot/launch/simulate_mapping.launch @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/navigation/turtlebot/package.xml b/camera/navigation/turtlebot/package.xml new file mode 100644 index 0000000000..ba069d974e --- /dev/null +++ b/camera/navigation/turtlebot/package.xml @@ -0,0 +1,21 @@ + + + realsense_navigation + 1.0.0 + RealSense Camera package allowing access to Intel 3D cameras and advanced modules + + Amit Moran + + BSD 3-clause. See license attached + + http://www.ros.org/wiki/RealSense + + Amit Moran + + catkin + roscpp + rospy + + roscpp + rospy + diff --git a/camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml b/camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml new file mode 100644 index 0000000000..b89cdd26cc --- /dev/null +++ b/camera/navigation/turtlebot/robot_description/custom_costmap_params.yaml @@ -0,0 +1,24 @@ +global_costmap: + robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) + obstacle_layer: + scan: + data_type: LaserScan + topic: scan + marking: true + clearing: true + min_obstacle_height: 0.05 # previous: 0.25, too high for the DS4 configuration! + max_obstacle_height: 0.35 + +local_costmap: + robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) + obstacle_layer: + scan: + data_type: LaserScan + topic: scan + marking: true + clearing: true + min_obstacle_height: 0.05 # previous: 0.25, too high for the DS4 configuration! + max_obstacle_height: 0.35 + + + diff --git a/camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro b/camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro new file mode 100644 index 0000000000..662294778b --- /dev/null +++ b/camera/navigation/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + + \ No newline at end of file diff --git a/camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae b/camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae new file mode 100644 index 0000000000..c1ebc6ab21 --- /dev/null +++ b/camera/navigation/turtlebot/robot_description/meshes/sensors/r200.dae @@ -0,0 +1,890 @@ + + + + + Google SketchUp 8.0.4811 + + 2015-05-31T08:41:34Z + 2015-05-31T08:41:34Z + + Z_UP + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.1184986753859656 7.755517072645532 2.24409448818898 51.06260368681876 7.755517072645532 2.165354330708662 0.1184986753859656 7.755517072645532 2.165354330708662 51.06260368681876 7.755517072645532 2.24409448818898 0.1184986753859656 7.755517072645532 2.24409448818898 0.1184986753859656 2.804370064010866 2.165354330708662 0.1184986753859656 2.804370064010866 2.24409448818898 0.1184986753859656 7.755517072645532 2.165354330708662 51.06260368681876 7.755517072645532 2.165354330708662 51.06260368681876 0.1184986753859656 2.24409448818898 51.06260368681876 0.1184986753859656 2.165354330708662 51.06260368681876 7.755517072645532 2.24409448818898 25.61991398185795 2.804370064010866 2.24409448818898 0.1184986753859656 2.804370064010866 2.165354330708662 25.61991398185795 2.804370064010866 2.165354330708662 0.1184986753859656 2.804370064010866 2.24409448818898 51.06260368681876 0.1184986753859656 2.24409448818898 30.70679771243117 0.1184986753859656 2.165354330708662 51.06260368681876 0.1184986753859656 2.165354330708662 30.70679771243117 0.1184986753859656 2.24409448818898 30.70679771243117 0.1184986753859656 2.24409448818898 25.61991398185795 2.804370064010866 2.165354330708662 30.70679771243117 0.1184986753859656 2.165354330708662 25.61991398185795 2.804370064010866 2.24409448818898 + + + + + + + + + + 0 1 0 0 1 0 0 1 0 0 1 0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 -1.741429659934826e-017 -1 -0 -1.741429659934826e-017 -1 -0 -1.741429659934826e-017 -1 -0 -1.741429659934826e-017 -1 -0 -1.363521329027796e-018 -1 1.38790518535184e-045 -1.363521329027796e-018 -1 1.38790518535184e-045 -1.363521329027796e-018 -1 1.38790518535184e-045 -1.363521329027796e-018 -1 1.38790518535184e-045 -0.4669118737456303 -0.8843038517135072 -0 -0.4669118737456303 -0.8843038517135072 -0 -0.4669118737456303 -0.8843038517135072 -0 -0.4669118737456303 -0.8843038517135072 -0 + + + + + + + + + + + + + + +

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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.1254901960784314 0.2117647058823529 0.2274509803921569 1 + + + + + + + + + + + 0.2431372549019608 0.3568627450980392 0.4352941176470588 1 + + + + + + + + + + + 0.6627450980392157 0.6627450980392157 0.6627450980392157 1 + + + + + + + + + + + 0 0 0 1 + + + + + + + + + + + 0.2156862745098039 0.3568627450980392 0.3843137254901961 1 + + + + + + + + + + + 0.2431372549019608 0.3568627450980392 0.4352941176470588 1 + + + 1 + + + + + + + + + + diff --git a/camera/navigation/turtlebot/robot_description/r200.launch.xml b/camera/navigation/turtlebot/robot_description/r200.launch.xml new file mode 100644 index 0000000000..1e764e3c03 --- /dev/null +++ b/camera/navigation/turtlebot/robot_description/r200.launch.xml @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro b/camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro new file mode 100644 index 0000000000..31c9de673a --- /dev/null +++ b/camera/navigation/turtlebot/robot_description/turtlebot_library_extended.urdf.xacro @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + diff --git a/camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro b/camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro new file mode 100644 index 0000000000..d18618589b --- /dev/null +++ b/camera/navigation/turtlebot/robot_description/urdf/sensors/r200.urdf.xacro @@ -0,0 +1,96 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro b/camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro new file mode 100644 index 0000000000..17ff013e77 --- /dev/null +++ b/camera/navigation/turtlebot/robot_description/urdf/stacks/minimal.urdf.xacro @@ -0,0 +1,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/navigation/turtlebot/rviz/navigation_r200.rviz b/camera/navigation/turtlebot/rviz/navigation_r200.rviz new file mode 100644 index 0000000000..e3a33f2bf2 --- /dev/null +++ b/camera/navigation/turtlebot/rviz/navigation_r200.rviz @@ -0,0 +1,379 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1/Planner1 + - /Local Map1 + - /Image1 + Splitter Ratio: 0.5 + Tree Height: 409 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.08 + Style: Spheres + Topic: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/global_plan + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 12; 255 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/local_plan + Value: true + - Alpha: 0.8 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 785.05 + Min Color: 0; 0; 0 + Min Intensity: 29.39 + Name: Cost Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Flat Squares + Topic: /move_base/DWAPlannerROS/cost_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 9.621 + Min Color: 0; 0; 0 + Min Intensity: 3.621 + Name: Trajectory Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Boxes + Topic: /move_base/DWAPlannerROS/trajectory_cloud + Use Fixed Frame: true + Use rainbow: false + Value: true + Enabled: true + Name: Local Map + - Arrow Length: 0.2 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Name: Amcl Particle Swarm + Topic: /particlecloud + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Full Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/NavfnROS/plan + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_raw + Max Value: 2500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: + - Class: rviz/Orbit + Distance: 13 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Mapping3 + Near Clip Distance: 0.01 + Pitch: 1.5648 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.13659 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Mapping + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + Displays: + collapsed: false + Height: 985 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000018000000393fc0200000006fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000228000000dd00fffffffb0000000a0049006d0061006700650100000256000001650000001600ffffff000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000393000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004a40000039300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 63 + Y: 22 diff --git a/camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz b/camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz new file mode 100644 index 0000000000..8d45ceee6d --- /dev/null +++ b/camera/navigation/turtlebot/rviz/navigation_r200_without_depth.rviz @@ -0,0 +1,540 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1/Planner1 + - /Local Map1 + - /Image1 + Splitter Ratio: 0.5 + Tree Height: 772 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cliff_sensor_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gyro_link: + Alpha: 1 + Show Axes: false + Show Trail: false + plate_bottom_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_top_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_kinect_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_kinect_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.08 + Style: Spheres + Topic: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/global_plan + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 12; 255 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/local_plan + Value: true + - Alpha: 0.8 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 785.05 + Min Color: 0; 0; 0 + Min Intensity: 29.39 + Name: Cost Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Flat Squares + Topic: /move_base/DWAPlannerROS/cost_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 9.621 + Min Color: 0; 0; 0 + Min Intensity: 3.621 + Name: Trajectory Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Boxes + Topic: /move_base/DWAPlannerROS/trajectory_cloud + Use Fixed Frame: true + Use rainbow: false + Value: true + Enabled: true + Name: Local Map + - Arrow Length: 0.2 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Name: Amcl Particle Swarm + Topic: /particlecloud + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Full Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/NavfnROS/plan + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth/image_raw + Max Value: 2500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: + - Class: rviz/Orbit + Distance: 13 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Mapping3 + Near Clip Distance: 0.01 + Pitch: 1.5648 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.13659 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Mapping + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + Displays: + collapsed: false + Height: 985 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000018000000393fc0200000006fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000393000000dd00fffffffb0000000a0049006d0061006700650000000256000001650000001600ffffff000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000393000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004a40000039300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 63 + Y: 14 diff --git a/camera/package.xml b/camera/package.xml index eb80033386..292d330119 100644 --- a/camera/package.xml +++ b/camera/package.xml @@ -9,14 +9,14 @@ BSD 3-clause. See license attached - http://www.intel.com/realsense + http://www.ros.org/wiki/RealSense Rajvi Jingar Reagan Lopez + Matt Hansen catkin roscpp - rospy nodelet cv_bridge image_transport @@ -27,9 +27,9 @@ sensor_msgs rostest pcl_ros + dynamic_reconfigure roscpp - rospy nodelet cv_bridge image_transport @@ -40,9 +40,10 @@ sensor_msgs rostest pcl_ros + dynamic_reconfigure - + diff --git a/camera/rviz/realsenseRvizConfiguration.rviz b/camera/rviz/realsenseRvizConfiguration1.rviz similarity index 100% rename from camera/rviz/realsenseRvizConfiguration.rviz rename to camera/rviz/realsenseRvizConfiguration1.rviz diff --git a/camera/rviz/realsenseRvizConfiguration2.rviz b/camera/rviz/realsenseRvizConfiguration2.rviz new file mode 100644 index 0000000000..370c7d924e --- /dev/null +++ b/camera/rviz/realsenseRvizConfiguration2.rviz @@ -0,0 +1,245 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Image1 + - /Image2 + - /Image3 + - /Image4 + - /Image5 + - /PointCloud21 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth/image_raw + Max Value: 6000 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_raw + Max Value: 3500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_rect + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_rect_raw + Max Value: 3500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /camera/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/ir/image_rect_ir + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/ir/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_rect_mono + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.785398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 55 + Y: -14 diff --git a/camera/rviz/realsenseRvizConfiguration3.rviz b/camera/rviz/realsenseRvizConfiguration3.rviz new file mode 100644 index 0000000000..be9c8f7197 --- /dev/null +++ b/camera/rviz/realsenseRvizConfiguration3.rviz @@ -0,0 +1,305 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Image5 + - /Image6 + - /Image7 + - /Image9 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_mono + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/rgb/image_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/rgb/image_rect_mono + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /camera/rgb/image_rect_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_rect_raw + Max Value: 3500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_rect + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /camera/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/ir/image_rect_ir + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth_registered/sw_registered/image_rect_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: "" + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /camera/depth_registered/points + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth_registered/sw_registered/image_rect + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth_registered/hw_registered/image_rect + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth_registered/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 12.544 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 1.5598 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.5954 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 55 + Y: -14 diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index d98267cabf..ccab900bcc 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ #include "realsense_camera_nodelet.h" @@ -13,6 +35,8 @@ using namespace std; // Nodelet dependencies. #include +#include + PLUGINLIB_EXPORT_CLASS (realsense_camera::RealsenseNodelet, nodelet::Nodelet) namespace realsense_camera { @@ -24,6 +48,11 @@ namespace realsense_camera { device_thread_->join (); + if (enable_tf_ == true) + { + transform_thread_->join(); + } + // Stop device. if (is_device_started_ == true) { @@ -53,12 +82,13 @@ namespace realsense_camera enable_depth_ = ENABLE_DEPTH; enable_color_ = ENABLE_COLOR; enable_pointcloud_ = ENABLE_PC; + enable_tf_ = ENABLE_TF; is_device_started_ = false; camera_configuration_ = getMyArgv (); - frame_id_[RS_STREAM_DEPTH] = DEPTH_DEF_FRAME; - frame_id_[RS_STREAM_COLOR] = COLOR_DEF_FRAME; + frame_id_[RS_STREAM_DEPTH] = DEPTH_OPTICAL_DEF_FRAME; + frame_id_[RS_STREAM_COLOR] = COLOR_OPTICAL_DEF_FRAME; frame_id_[RS_STREAM_INFRARED] = IR1_DEF_FRAME; frame_id_[RS_STREAM_INFRARED2] = IR2_DEF_FRAME; @@ -96,14 +126,86 @@ namespace realsense_camera get_options_service_ = nh.advertiseService (SETTINGS_SERVICE, &RealsenseNodelet::getCameraSettings, this); - // Start working thread. - device_thread_ = - boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::devicePoll, this))); - } + dynamic_reconf_server_.reset(new dynamic_reconfigure::Server(getPrivateNodeHandle())); + + bool connected = false; + + connected = connectToCamera (); + + if (connected == true) + { + // Start working thread. + device_thread_ = + boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::devicePoll, this))); + + if (enable_tf_ == true) + { + transform_thread_ = + boost::shared_ptr < boost::thread > (new boost::thread (boost::bind (&RealsenseNodelet::publishTransforms, this))); + } + + } + else + { + ros::shutdown (); + } + + dynamic_reconf_server_->setCallback(boost::bind(&RealsenseNodelet::configCallback, this, _1, _2)); +} /* *Private Methods. */ + void RealsenseNodelet::configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level) + { + rs_set_device_option(rs_device_, RS_OPTION_COLOR_BACKLIGHT_COMPENSATION, config.COLOR_BACKLIGHT_COMPENSATION, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_BRIGHTNESS, config.COLOR_BRIGHTNESS, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_CONTRAST, config.COLOR_CONTRAST, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAIN, config.COLOR_GAIN, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_GAMMA, config.COLOR_GAMMA, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_HUE, config.COLOR_HUE, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_SATURATION, config.COLOR_SATURATION, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_SHARPNESS, config.COLOR_SHARPNESS, 0); + rs_set_device_option(rs_device_, RS_OPTION_COLOR_ENABLE_AUTO_WHITE_BALANCE, config.COLOR_ENABLE_AUTO_WHITE_BALANCE, 0); + + if(config.COLOR_ENABLE_AUTO_WHITE_BALANCE == 0) { + rs_set_device_option(rs_device_, RS_OPTION_COLOR_WHITE_BALANCE, config.COLOR_WHITE_BALANCE, 0); + } + + //R200 camera specific options + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED, config.R200_LR_AUTO_EXPOSURE_ENABLED, 0); + + if(config.R200_LR_AUTO_EXPOSURE_ENABLED == 0) { + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_EXPOSURE, config.R200_LR_EXPOSURE, 0); + } + + rs_set_device_option(rs_device_, RS_OPTION_R200_LR_GAIN, config.R200_LR_GAIN, 0); + rs_set_device_option(rs_device_, RS_OPTION_R200_EMITTER_ENABLED, config.R200_EMITTER_ENABLED, 0); + rs_set_device_option(rs_device_, RS_OPTION_R200_DISPARITY_MULTIPLIER, config.R200_DISPARITY_MULTIPLIER, 0); + + if(config.R200_LR_AUTO_EXPOSURE_ENABLED == 1) + { + if(config.R200_AUTO_EXPOSURE_TOP_EDGE >= depth_height_) { + config.R200_AUTO_EXPOSURE_TOP_EDGE = depth_height_ - 1; + } + if(config.R200_AUTO_EXPOSURE_BOTTOM_EDGE >= depth_height_) { + config.R200_AUTO_EXPOSURE_BOTTOM_EDGE = depth_height_ - 1; + } + if(config.R200_AUTO_EXPOSURE_LEFT_EDGE >= depth_width_) { + config.R200_AUTO_EXPOSURE_LEFT_EDGE = depth_width_ - 1; + } + if(config.R200_AUTO_EXPOSURE_RIGHT_EDGE >= depth_width_) { + config.R200_AUTO_EXPOSURE_RIGHT_EDGE = depth_width_ - 1; + } + edge_values_[0] = config.R200_AUTO_EXPOSURE_LEFT_EDGE; + edge_values_[1] = config.R200_AUTO_EXPOSURE_TOP_EDGE; + edge_values_[2] = config.R200_AUTO_EXPOSURE_RIGHT_EDGE; + edge_values_[3] = config.R200_AUTO_EXPOSURE_BOTTOM_EDGE; + + rs_set_device_options(rs_device_, edge_options_, 4, edge_values_, 0); + } + } + void RealsenseNodelet::check_error () { if (rs_error_) @@ -123,20 +225,9 @@ namespace realsense_camera */ void RealsenseNodelet::devicePoll () { - bool connected = false; - - connected = connectToCamera (); - - if (connected == true) - { - while (ros::ok ()) - { - publishStreams (); - } - } - else + while (ros::ok ()) { - ros::shutdown (); + publishStreams (); } } @@ -364,17 +455,50 @@ namespace realsense_camera if (config_.find ("enable_color") != config_.end ()) { - enable_color_ = atoi (config_.at ("enable_color").c_str ()); + if (strcmp((config_.at ("enable_color").c_str ()),"true") == 0) + { + enable_color_ = true; + } + else + { + enable_color_ = false; + } } if (config_.find ("enable_depth") != config_.end ()) { - enable_depth_ = atoi (config_.at ("enable_depth").c_str ()); + if (strcmp((config_.at ("enable_depth").c_str ()),"true") == 0) + { + enable_depth_ = true; + } + else + { + enable_depth_ = false; + } } - if (config_.find ("enable_pointCloud") != config_.end ()) + if (config_.find ("enable_pointcloud") != config_.end ()) { - enable_pointcloud_ = atoi (config_.at ("enable_pointCloud").c_str ()); + if (strcmp((config_.at ("enable_pointcloud").c_str ()),"true") == 0) + { + enable_pointcloud_ = true; + } + else + { + enable_pointcloud_ = false; + } + } + + if (config_.find ("enable_tf") != config_.end ()) + { + if (strcmp((config_.at ("enable_tf").c_str ()),"true") == 0) + { + enable_tf_ = true; + } + else + { + enable_tf_ = false; + } } if (config_.find ("camera") != config_.end ()) @@ -382,6 +506,16 @@ namespace realsense_camera camera_ = config_.at ("camera").c_str (); } + if (config_.find ("depth_frame_id") != config_.end ()) + { + frame_id_[RS_STREAM_DEPTH] = config_.at ("depth_frame_id").c_str (); + } + + if (config_.find ("rgb_frame_id") != config_.end ()) + { + frame_id_[RS_STREAM_COLOR] = config_.at ("rgb_frame_id").c_str (); + } + if (mode_.compare ("manual") == 0) { if (config_.find ("color_fps") != config_.end ()) @@ -465,6 +599,9 @@ namespace realsense_camera image_[(uint32_t) RS_STREAM_INFRARED2].data = (unsigned char *) (rs_get_frame_data (rs_device_, RS_STREAM_INFRARED2, 0)); break; + default: + // no other streams supported + break; } } @@ -576,8 +713,6 @@ namespace realsense_camera sensor_msgs::PointCloud2Iterator < uint8_t > iter_g (msg_pointcloud, "g"); sensor_msgs::PointCloud2Iterator < uint8_t > iter_b (msg_pointcloud, "b"); - rs::float2 thirdImagePixel; - float depth_point[3], color_point[3], color_pixel[2], scaled_depth; unsigned char *color_data = image_color.data; const float depth_scale = rs_get_device_depth_scale (rs_device_, &rs_error_); @@ -643,4 +778,51 @@ namespace realsense_camera pointcloud_publisher_.publish (msg_pointcloud); } } -} + /* + * Publish camera transforms + */ + void RealsenseNodelet::publishTransforms() + { + // publish transforms for the cameras + ROS_INFO_STREAM("RealSense Camera - Publishing camera transforms"); + tf::Transform tr; + tf::Quaternion q; + tf::TransformBroadcaster tf_broadcaster; + rs_extrinsics z_extrinsic; + + // extrinsics are offsets between the cameras + rs_get_device_extrinsics (rs_device_, RS_STREAM_DEPTH, RS_STREAM_COLOR, &z_extrinsic, &rs_error_); check_error (); + + ros::Duration sleeper(0.1); // 100ms + + while (ros::ok()) + { + // time stamp is future dated to be valid for given duration + ros::Time time_stamp = ros::Time::now() + sleeper; + + // transform base frame to depth frame + tr.setOrigin(tf::Vector3(z_extrinsic.translation[0], z_extrinsic.translation[1], z_extrinsic.translation[2])); + tr.setRotation(tf::Quaternion(0, 0, 0, 1)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, BASE_DEF_FRAME, DEPTH_DEF_FRAME)); + + // transform depth frame to depth optical frame + tr.setOrigin(tf::Vector3(0,0,0)); + q.setEuler( M_PI/2, 0.0, -M_PI/2 ); + tr.setRotation( q ); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, DEPTH_DEF_FRAME, frame_id_[RS_STREAM_DEPTH])); + + // transform base frame to color frame (these are the same) + tr.setOrigin(tf::Vector3(0,0,0)); + tr.setRotation(tf::Quaternion(0, 0, 0, 1)); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, BASE_DEF_FRAME, COLOR_DEF_FRAME)); + + // transform color frame to color optical frame + tr.setOrigin(tf::Vector3(0,0,0)); + q.setEuler( M_PI/2, 0.0, -M_PI/2 ); + tr.setRotation( q ); + tf_broadcaster.sendTransform(tf::StampedTransform(tr, time_stamp, COLOR_DEF_FRAME, frame_id_[RS_STREAM_COLOR])); + + sleeper.sleep(); // need sleep or transform won't publish correctly + } + } +} // end namespace diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 3ccca2b7b6..dd27b3f8a1 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ #pragma once @@ -38,6 +60,9 @@ #include #include +#include +#include + namespace realsense_camera { @@ -61,14 +86,17 @@ class RealsenseNodelet: public nodelet::Nodelet const bool ENABLE_DEPTH = true; const bool ENABLE_COLOR = true; const bool ENABLE_PC = true; + const bool ENABLE_TF = true; const uint32_t SERIAL_NUMBER = 0xFFFFFFFF; const rs_format DEPTH_FORMAT = RS_FORMAT_Z16; const rs_format COLOR_FORMAT = RS_FORMAT_RGB8; const rs_format IR1_FORMAT = RS_FORMAT_Y8; const rs_format IR2_FORMAT = RS_FORMAT_Y8; - const char *BASE_DEF_FRAME = "realsense_frame"; - const char *DEPTH_DEF_FRAME = "camera_depth_optical_frame"; - const char *COLOR_DEF_FRAME = "camera_color_optical_frame"; + const char *BASE_DEF_FRAME = "camera_link"; + const char *DEPTH_DEF_FRAME = "camera_depth_frame"; + const char *COLOR_DEF_FRAME = "camera_rgb_frame"; + const char *DEPTH_OPTICAL_DEF_FRAME = "camera_depth_optical_frame"; + const char *COLOR_OPTICAL_DEF_FRAME = "camera_rgb_optical_frame"; const char *IR1_DEF_FRAME = "camera_infrared_optical_frame"; const char *IR2_DEF_FRAME = "camera_infrared2_optical_frame"; const char *DEPTH_TOPIC = "camera/depth/image_raw"; @@ -83,6 +111,7 @@ class RealsenseNodelet: public nodelet::Nodelet private: // Member Variables. boost::shared_ptr device_thread_; + boost::shared_ptr transform_thread_; rs_error *rs_error_ = 0; rs_context *rs_context_; @@ -98,12 +127,21 @@ class RealsenseNodelet: public nodelet::Nodelet bool enable_color_; bool enable_depth_; bool enable_pointcloud_; + bool enable_tf_; std::vector camera_configuration_; std::string camera_ = "R200"; const uint16_t *image_depth16_; cv::Mat image_[STREAM_COUNT]; + rs_option edge_options_[4] = { + RS_OPTION_R200_AUTO_EXPOSURE_LEFT_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_TOP_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_RIGHT_EDGE, + RS_OPTION_R200_AUTO_EXPOSURE_BOTTOM_EDGE + }; + double edge_values_[4]; + sensor_msgs::CameraInfoPtr camera_info_ptr_[STREAM_COUNT]; sensor_msgs::CameraInfo * camera_info_[STREAM_COUNT]; image_transport::CameraPublisher camera_publisher_[STREAM_COUNT]; @@ -124,6 +162,7 @@ class RealsenseNodelet: public nodelet::Nodelet double min, max, step, value; }; std::vector options; + boost::shared_ptr> dynamic_reconf_server_; // Member Functions. void check_error(); @@ -132,6 +171,7 @@ class RealsenseNodelet: public nodelet::Nodelet void prepareStreamData(rs_stream rs_strm); void publishStreams(); void publishPointCloud(cv::Mat & image_rgb); + void publishTransforms(); void devicePoll(); void allocateResources(); bool connectToCamera(); @@ -139,6 +179,7 @@ class RealsenseNodelet: public nodelet::Nodelet void getConfigValues(std::vector args); void setConfigValues(std::vector args, std::vector cam_options); bool getCameraSettings(realsense_camera::cameraConfiguration::Request & req, realsense_camera::cameraConfiguration::Response & res); + void configCallback(realsense_camera::camera_paramsConfig &config, uint32_t level); }; } diff --git a/camera/src/RealsenseNodelet_plugins.xml b/camera/src/realsense_camera_nodelet_plugins.xml similarity index 100% rename from camera/src/RealsenseNodelet_plugins.xml rename to camera/src/realsense_camera_nodelet_plugins.xml diff --git a/camera/test/README.md b/camera/test/README.md deleted file mode 100644 index d38cd299ea..0000000000 --- a/camera/test/README.md +++ /dev/null @@ -1,132 +0,0 @@ -#Intel® ROS RealSense Package - Unit Testing -###(ROS Indigo + Ubuntu 14.04 [64-bit]) -ROS node unit test (rostest + gtest): node unit tests start up "RealsenseNodelet" and test its published topics, supported parameter values and services. - -#####Building package: - -* Follow the steps in the README.md file of the ros repository. Setup ROS and create a local catkin workspace. -* To compile just realsense package, instead of catkin_make, execute following command - catkin_make --pkg realsense - -Successful execution of command will build target "utest" along with target “r200_camera_nodelet” - -#### Subscribed Topics -Color camera - - camera/color/image_raw (sensor_msgs/Image) - Color rectified image. RGB format. - camera/color/camera_info - Calibration data - -Depth camera - - camera/depth/image_raw (sensor_msgs/Image) - uint16 depths in mm - camera/depth/camera_info - Calibration data - camera/depth/points (sensor_msgs/PointCloud2) - Registered XYZRGB point cloud. - -Infrared1 camera - - camera/infrared1/image_raw (sensor_msgs/Image) - camera/infrared1/camera_info - Calibration data - -Infrared2 camera - - camera/infrared2/image_raw (sensor_msgs/Image) - camera/infrared2/camera_info - Calibration data - -####Parameters - - mode (string, default: preset) - Specify the mode to start camera streams. Mode comprises of height, width and fps. - Preset mode enables default values whereas Manual mode enables the specified parameter values. - color_height (int, default: 480) - Specify the color camera height resolution. - color_width (int, default: 640) - Specify the color camera width resolution. - depth_height (int, default: 360) - Specify the depth camera height resolution. - depth_width (int, default: 480) - Specify the depth camera width resolution. - depth_fps (int, default: 60) - Specify the color camera FPS - depth_fps (int, default: 60) - Specify the depth camera FPS - enable_depth (bool, default: 1) - Specify if to enable or not the depth camera. 1 is true. 0 is false. - enable_color (bool, default: 1) - Specify if to enable or not the color camera. 1 is true. 0 is false. - enable_pointcloud (bool, default: 1) - Specify if to enable or not the point cloud camera. 1 is true. 0 is false. - camera (string, default: "R200") - Specify the camera name. - Supported options: Here are r200 camera supported options that can be set - COLOR_BACKLIGHT_COMPENSATION : [0, 4] - COLOR_BRIGHTNESS : [0, 255] - COLOR_CONTRAST : [16, 64] - COLOR_EXPOSURE : [0, 0] - COLOR_GAIN : [0, 256] - COLOR_GAMMA : [100, 280] - COLOR_HUE : [-2200, 2200] - COLOR_SATURATION : [0, 255] - COLOR_SHARPNESS : [0, 7] - COLOR_WHITE_BALANCE : [2000, 8000] - COLOR_ENABLE_AUTO_EXPOSURE : [0, 0] - COLOR_ENABLE_AUTO_WHITE_BALANCE : [0, 1] - R200_LR_AUTO_EXPOSURE_ENABLED : [0, 1] - R200_LR_GAIN : [100, 1600] - R200_LR_EXPOSURE : [0, 333] - R200_EMITTER_ENABLED : [0, 1] - R200_DEPTH_CONTROL_PRESET : [0, 5] - R200_DEPTH_UNITS : [1, 2147483647] - R200_DEPTH_CLAMP_MIN : [0, 65535] - R200_DEPTH_CLAMP_MAX : [0, 65535] - R200_DISPARITY_MULTIPLIER : [1, 1000] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : [0 - 255] - R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT : [0 - 255] - R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD : [0 - 31] - R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD : [0 - 1023] - R200_DEPTH_CONTROL_LR_THRESHOLD : [0 - 2047] - -####Services called - get_settings (camera/get_settings) - To get supported camera options with current value set. - - -###Running the utest node -The Unit Tests can be executed using either of the methods: - -1. Using rostest command with test files - - $ rostest - e.g rostest realsense_tests_r200_depth_only.test - -2. Using rosrun command - - $ roslaunch realsense realsense_r200_launch_manual.launch - - $ rosrun realsense_tests utest - e.g rosrun realsense_tests utest enable_depth 1 depth_encoding 16UC1 depth_height 360 depth_width 480 depth_step 960 enable_color 1 color_encoding rgb8 color_height 480 color_width 640 color_step 1920 - -Sample testfiles are available in test directory - -realsense_tests_r200_color_only.test - -realsense_tests_r200_depth_only.test - -realsense_tests_r200_resolution.test - -realsense_tests_r200_settings.test - -Both of these methods first starts "RealsenseNodelet" for Intel® RealSense™ R200 (DS4) camera and then executes all the unittests. - - diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index abf88eef1c..7f84367a89 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ #include "gtest/gtest.h" @@ -18,7 +40,7 @@ void imageInfrared1Callback(const sensor_msgs::ImageConstPtr & msg, const sensor long infrared1_total = 0; int infrared1_count = 1; - for (int i = 0; i < msg->height * msg->width; i++) + for (unsigned int i = 0; i < msg->height * msg->width; i++) { if (*infrared1_data > 0 && *infrared1_data < 255) { @@ -48,7 +70,7 @@ void imageInfrared2Callback(const sensor_msgs::ImageConstPtr & msg, const sensor long infrared2_total = 0; int infrared2_count = 1; - for (int i = 0; i < msg->height * msg->width; i++) + for (unsigned int i = 0; i < msg->height * msg->width; i++) { if (*infrared2_data > 0 && *infrared2_data < 255) { @@ -77,9 +99,9 @@ void imageDepthCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg long depth_total = 0; int depth_count = 0; - for (int i = 0; i < msg->height * msg->width; ++i) + for (unsigned int i = 0; i < msg->height * msg->width; ++i) { - if (0 < *image_data <= R200_DEPTH_MAX) + if ((0 < *image_data) && (*image_data <= R200_DEPTH_MAX)) { depth_total += *image_data; depth_count++; @@ -103,34 +125,33 @@ void imageDepthCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg depth_recv = true; } -/* - void pcCallback (const sensor_msgs::PointCloud2ConstPtr pc) - { - pcl::PointCloud < pcl::PointXYZRGB > pointcloud; - pcl::fromROSMsg (*pc, pointcloud); - - long pc_depth_total = 0; - int pc_depth_count = 0; - for (int i = 0; i < pointcloud.width * pointcloud.height; ++i) - { - pcl::PointXYZRGB point = pointcloud.points[i]; - float pc_depth = (float) std::ceil (point.z); - if (0 < pc_depth <= 10) - { - pc_depth_total += pc_depth; - pc_depth_count++; - } - } - - - if (pc_depth_count != 0) - { - pc_depth_avg = pc_depth_total / pc_depth_count; - } - - pc_recv = true; - } - */ + + void pcCallback(const sensor_msgs::PointCloud2ConstPtr pc) +{ + pcl::PointCloud < pcl::PointXYZRGB > pointcloud; + pcl::fromROSMsg(*pc, pointcloud); + + long pc_depth_total = 0; + int pc_depth_count = 0; + for (unsigned int i = 0; i < pointcloud.width * pointcloud.height; ++i) + { + pcl::PointXYZRGB point = pointcloud.points[i]; + float pc_depth = (float) std::ceil(point.z); + if ((0 < pc_depth) && (pc_depth <= R200_DEPTH_MAX)) + { + pc_depth_total += pc_depth; + pc_depth_count++; + } + } + + if (pc_depth_count != 0) + { + pc_depth_avg = pc_depth_total / pc_depth_count; + } + + pc_recv = true; +} + void imageColorCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msgs::CameraInfoConstPtr & info_msg) { @@ -139,7 +160,7 @@ void imageColorCallback(const sensor_msgs::ImageConstPtr & msg, const sensor_msg uchar *color_data = image.data; long color_total = 0; int color_count = 1; - for (int i = 0; i < msg->height * msg->width * 3; i++) + for (unsigned int i = 0; i < msg->height * msg->width * 3; i++) { if (*color_data > 0 && *color_data < 255) { @@ -340,21 +361,21 @@ TEST (RealsenseTests, testInfrared2CameraInfo) } } -/* + TEST (RealsenseTests, testPointCloud) - { - if (enable_depth) - { - ROS_INFO_STREAM ("RealSense Camera - pc_depth_avg: " << pc_depth_avg); - EXPECT_TRUE (pc_depth_avg > 0); - EXPECT_TRUE (pc_recv); - } - else - { - EXPECT_FALSE (pc_recv); - } - } - */ +{ + if (enable_depth) + { + ROS_INFO_STREAM ("RealSense Camera - pc_depth_avg: " << pc_depth_avg); + EXPECT_TRUE (pc_depth_avg > 0); + EXPECT_TRUE (pc_recv); + } + else + { + EXPECT_FALSE (pc_recv); + } +} + TEST (RealsenseTests, testCameraSettings) { @@ -376,6 +397,39 @@ TEST (RealsenseTests, testCameraSettings) } } +TEST (RealsenseTests, testTransforms) +{ + // make sure all transforms are being broadcast as expected + tf::TransformListener tf_listener; + ros::Duration(1).sleep(); // must listen for ~1 sec or tf won't be found + + EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, DEPTH_DEF_FRAME, ros::Time::now())); + EXPECT_TRUE(tf_listener.canTransform (DEPTH_DEF_FRAME, DEPTH_OPTICAL_DEF_FRAME, ros::Time::now())); + EXPECT_TRUE(tf_listener.canTransform (BASE_DEF_FRAME, COLOR_DEF_FRAME, ros::Time::now())); + EXPECT_TRUE(tf_listener.canTransform (COLOR_DEF_FRAME,COLOR_OPTICAL_DEF_FRAME, ros::Time::now())); +} + +TEST (RealsenseTests, testDynamicReconfigure) +{ + stringstream settings_ss (srv.response.configuration_str); + string setting; + string setting_name; + string setting_value; + + while (getline (settings_ss, setting, ';')) + { + stringstream setting_ss (setting); + getline (setting_ss, setting_name, ':'); + setting_value = (setting.substr (setting.rfind (":") + 1)); + if (config_args.find (setting_name) != config_args.end ()) + { + int actual_value = atoi (setting_value.c_str ()); + int expected_value = atoi (config_args.at (setting_name).c_str ()); + EXPECT_EQ (expected_value, actual_value); + } + } +} + void fillConfigMap(int argc, char **argv) { std::vector < std::string > args; @@ -398,7 +452,14 @@ void fillConfigMap(int argc, char **argv) if (config_args.find("enable_depth") != config_args.end()) { ROS_INFO ("RealSense Camera - Setting %s to %s", "enable_depth", config_args.at("enable_depth").c_str()); - enable_depth = atoi(config_args.at("enable_depth").c_str()); + if (strcmp((config_args.at("enable_depth").c_str ()),"true") == 0) + { + enable_depth = true; + } + else + { + enable_depth = false; + } } if (config_args.find("depth_encoding") != config_args.end()) { @@ -425,7 +486,14 @@ void fillConfigMap(int argc, char **argv) if (config_args.find("enable_color") != config_args.end()) { ROS_INFO ("RealSense Camera - Setting %s to %s", "enable_color", config_args.at("enable_color").c_str()); - enable_color = atoi(config_args.at("enable_color").c_str()); + if (strcmp((config_args.at("enable_color").c_str ()),"true") == 0) + { + enable_color = true; + } + else + { + enable_color = false; + } } if (config_args.find("color_encoding") != config_args.end()) { @@ -452,8 +520,6 @@ void fillConfigMap(int argc, char **argv) int main(int argc, char **argv) { - int return_value = 1; - testing::InitGoogleTest(&argc, argv); ros::init(argc, argv, "utest"); fillConfigMap(argc, argv); @@ -470,7 +536,7 @@ int main(int argc, char **argv) camera_subscriber[3] = it.subscribeCamera(IR2_TOPIC, 1, imageInfrared2Callback, 0); } - //m_sub_pc = nh.subscribe (PC_TOPIC, 1, pcCallback); + m_sub_pc = nh.subscribe (PC_TOPIC, 1, pcCallback); ros::ServiceClient client = nh.serviceClient < realsense_camera::cameraConfiguration > (SETTINGS_SERVICE); client.call(srv); diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index 607013f7ec..e2e9a5be8b 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. *******************************************************************************/ #include @@ -28,6 +50,7 @@ #include "std_msgs/Float32MultiArray.h" #include #include +#include const char *DEPTH_TOPIC = "camera/depth/image_raw"; const char *COLOR_TOPIC = "camera/color/image_raw"; @@ -38,6 +61,12 @@ const char *SETTINGS_SERVICE = "camera/get_settings"; const char *R200 = "R200"; const int R200_DEPTH_MAX = 10000; +const char *BASE_DEF_FRAME = "camera_link"; +const char *DEPTH_DEF_FRAME = "camera_depth_frame"; +const char *COLOR_DEF_FRAME = "camera_rgb_frame"; +const char *DEPTH_OPTICAL_DEF_FRAME = "camera_depth_optical_frame"; +const char *COLOR_OPTICAL_DEF_FRAME = "camera_rgb_optical_frame"; + //utest commandline args int color_height_exp = 0; int color_width_exp = 0; diff --git a/camera/test/realsense_camera_test_rgbd_node.cpp b/camera/test/realsense_camera_test_rgbd_node.cpp new file mode 100644 index 0000000000..d3cf52ecca --- /dev/null +++ b/camera/test/realsense_camera_test_rgbd_node.cpp @@ -0,0 +1,232 @@ +/****************************************************************************** + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *******************************************************************************/ + +#include "realsense_camera_test_rgbd_node.h" +using namespace std; + +void topic0Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_0_recv = true; + } +} + +void topic1Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_1_recv = true; + } +} + +void topic2Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_2_recv = true; + } +} + +void topic3Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_3_recv = true; + } +} + +void topic4Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_4_recv = true; + } +} + +void topic5Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_5_recv = true; + } +} + +void topic6Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_6_recv = true; + } +} + +void topic7Callback(const sensor_msgs::PointCloud2ConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_7_recv = true; + } +} + +void topic8Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_8_recv = true; + } +} + +void topic9Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_9_recv = true; + } +} + +void topic10Callback(const sensor_msgs::CameraInfoConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_10_recv = true; + } +} + +void topic11Callback(const sensor_msgs::PointCloud2ConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_11_recv = true; + } +} + +void topic12Callback(const sensor_msgs::ImageConstPtr msg) +{ + if ((msg->height != 0) && (msg->width != 0)) + { + topic_12_recv = true; + } +} + +TEST (RealsenseTests, RGB_IMAGE_MONO) +{ + EXPECT_TRUE (topic_0_recv); +} + +TEST (RealsenseTests, RGB_IMAGE_COLOR) +{ + EXPECT_TRUE (topic_1_recv); +} + +TEST (RealsenseTests, RGB_IMAGE_RECT_MONO) +{ + EXPECT_TRUE (topic_2_recv); +} + +TEST (RealsenseTests, RGB_IMAGE_RECT_COLOR) +{ + EXPECT_TRUE (topic_3_recv); +} + +TEST (RealsenseTests, DEPTH_IMAGE_RECT_RAW) +{ + EXPECT_TRUE (topic_4_recv); +} + +TEST (RealsenseTests, DEPTH_IMAGE_RECT) +{ + EXPECT_TRUE (topic_5_recv); +} + +TEST (RealsenseTests, DEPTH_IMAGE) +{ + EXPECT_TRUE (topic_6_recv); +} + +TEST (RealsenseTests, DEPTH_POINTS) +{ + EXPECT_TRUE (topic_7_recv); +} + +TEST (RealsenseTests, IR_IMAGE_RECT_IR) +{ + EXPECT_TRUE (topic_8_recv); +} + +TEST (RealsenseTests, DEPTH_REG_SW_REG_IMAGE_RECT_RAW) +{ + EXPECT_TRUE (topic_9_recv); +} + +TEST (RealsenseTests, DEPTH_REG_SW_REG_CAMERA_INFO) +{ + EXPECT_TRUE (topic_10_recv); +} + +TEST (RealsenseTests, DEPTH_REG_POINTS) +{ + EXPECT_TRUE (topic_11_recv); +} + +TEST (RealsenseTests, DEPTH_REG_SW_REG_IMAGE_RECT) +{ + EXPECT_TRUE (topic_12_recv); +} + +int main(int argc, char **argv) +{ + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "utest"); + + ROS_INFO_STREAM("RealSense Camera - Starting rgbd_launch Tests..."); + + ros::NodeHandle nh; + + subscriber[0] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_MONO, 1, topic0Callback, 0); + subscriber[1] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_COLOR, 1, topic1Callback, 0); + subscriber[2] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_RECT_MONO, 1, topic2Callback, 0); + subscriber[3] = nh.subscribe < sensor_msgs::Image > (RGB_IMAGE_RECT_COLOR, 1, topic3Callback, 0); + subscriber[4] = nh.subscribe < sensor_msgs::Image > (DEPTH_IMAGE_RECT_RAW, 1, topic4Callback, 0); + subscriber[5] = nh.subscribe < sensor_msgs::Image > (DEPTH_IMAGE_RECT, 1, topic5Callback, 0); + subscriber[6] = nh.subscribe < sensor_msgs::Image > (DEPTH_IMAGE, 1, topic6Callback, 0); + subscriber[7] = nh.subscribe < sensor_msgs::PointCloud2 > (DEPTH_POINTS, 1, topic7Callback); + subscriber[8] = nh.subscribe < sensor_msgs::Image > (IR_IMAGE_RECT_IR, 1, topic8Callback, 0); + subscriber[9] = nh.subscribe < sensor_msgs::Image > (DEPTH_REG_SW_REG_IMAGE_RECT_RAW, 1, topic9Callback, 0); + subscriber[10] = nh.subscribe < sensor_msgs::CameraInfo > (DEPTH_REG_SW_REG_CAMERA_INFO, 1, topic10Callback); + subscriber[11] = nh.subscribe < sensor_msgs::PointCloud2 > (DEPTH_REG_POINTS, 1, topic11Callback, 0); + subscriber[12] = nh.subscribe < sensor_msgs::Image > (DEPTH_REG_SW_REG_IMAGE_RECT, 1, topic12Callback, 0); + + ros::Duration duration; + duration.sec = 10; + duration.sleep(); + ros::spinOnce(); + + return RUN_ALL_TESTS(); +} diff --git a/camera/test/realsense_camera_test_rgbd_node.h b/camera/test/realsense_camera_test_rgbd_node.h new file mode 100644 index 0000000000..1f4713e491 --- /dev/null +++ b/camera/test/realsense_camera_test_rgbd_node.h @@ -0,0 +1,68 @@ +/****************************************************************************** + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software without + specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *******************************************************************************/ + +#include +#include +#include +#include +#include +#include + +const static int TOPIC_COUNT = 13; + +const char *RGB_IMAGE_MONO = "/camera/rgb/image_mono"; +const char *RGB_IMAGE_COLOR = "/camera/rgb/image_color"; +const char *RGB_IMAGE_RECT_MONO = "/camera/rgb/image_rect_mono"; +const char *RGB_IMAGE_RECT_COLOR = "/camera/rgb/image_rect_color"; +const char *DEPTH_IMAGE_RECT_RAW = "/camera/depth/image_rect_raw"; +const char *DEPTH_IMAGE_RECT = "/camera/depth/image_rect"; +const char *DEPTH_IMAGE = "/camera/depth/image"; +const char *DEPTH_POINTS = "/camera/depth/points"; +const char *IR_IMAGE_RECT_IR = "/camera/ir/image_rect_ir"; +const char *DEPTH_REG_SW_REG_IMAGE_RECT_RAW = "/camera/depth_registered/sw_registered/image_rect_raw"; +const char *DEPTH_REG_SW_REG_CAMERA_INFO = "/camera/depth_registered/sw_registered/camera_info"; +const char *DEPTH_REG_POINTS = "/camera/depth_registered/points"; +const char *DEPTH_REG_SW_REG_IMAGE_RECT = "/camera/depth_registered/sw_registered/image_rect"; + +bool topic_0_recv = false; +bool topic_1_recv = false; +bool topic_2_recv = false; +bool topic_3_recv = false; +bool topic_4_recv = false; +bool topic_5_recv = false; +bool topic_6_recv = false; +bool topic_7_recv = false; +bool topic_8_recv = false; +bool topic_9_recv = false; +bool topic_10_recv = false; +bool topic_11_recv = false; +bool topic_12_recv = false; + +ros::Subscriber subscriber[TOPIC_COUNT]; diff --git a/camera/test/realsense_r200_color_only.test b/camera/test/realsense_r200_color_only.test index 76f5a34472..99150176ac 100644 --- a/camera/test/realsense_r200_color_only.test +++ b/camera/test/realsense_r200_color_only.test @@ -1,10 +1,10 @@ - + + - + - + args="enable_depth false enable_color true" /> + diff --git a/camera/test/realsense_r200_depth_only.test b/camera/test/realsense_r200_depth_only.test index d3046af01d..66423cc13e 100644 --- a/camera/test/realsense_r200_depth_only.test +++ b/camera/test/realsense_r200_depth_only.test @@ -1,12 +1,10 @@ - - - - + + + args="enable_depth true enable_color false" /> diff --git a/camera/test/realsense_r200_resolution.test b/camera/test/realsense_r200_resolution.test index 57584445f8..65d893ed8d 100644 --- a/camera/test/realsense_r200_resolution.test +++ b/camera/test/realsense_r200_resolution.test @@ -1,15 +1,14 @@ - - + - + - + - - + args="color_height 1080 color_width 1920 depth_height 468 depth_width 628 color_fps 30 depth_fps 30" /> + diff --git a/camera/test/realsense_r200_rgbd.test b/camera/test/realsense_r200_rgbd.test new file mode 100644 index 0000000000..8832e12d12 --- /dev/null +++ b/camera/test/realsense_r200_rgbd.test @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/camera/test/realsense_r200_settings.test b/camera/test/realsense_r200_settings.test deleted file mode 100644 index 6ad0ed7888..0000000000 --- a/camera/test/realsense_r200_settings.test +++ /dev/null @@ -1,78 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -