diff --git a/autonomy/scripts/autonomy_config.py b/autonomy/scripts/autonomy_config.py index 6898a3c4..f4bb8881 100644 --- a/autonomy/scripts/autonomy_config.py +++ b/autonomy/scripts/autonomy_config.py @@ -8,7 +8,10 @@ CAMERA_POSITION_OFFSET = (-0.285, 0, 1.1) # rounding coefficient for the points -ROUNDING_COEF = 2 +ROUNDING_COEF = 1 + +# distance restriction for new point clouds to filter out obects that are too far away to be read clearly +MAX_DIST = 2.5 class PointsFilters: # filter out points that are too close to ground diff --git a/autonomy/scripts/mapping_cam.py b/autonomy/scripts/mapping_cam.py new file mode 100755 index 00000000..60dd3681 --- /dev/null +++ b/autonomy/scripts/mapping_cam.py @@ -0,0 +1,212 @@ +#!/usr/bin/env python3 + +import rospy +from sensor_msgs.msg import PointCloud2, PointField +from std_msgs.msg import Header +import sensor_msgs.point_cloud2 as pc2 +from gazebo_msgs.msg._ModelStates import ModelStates +from geometry_msgs.msg import Pose, PolygonStamped, Polygon, Point32 +from visualization_msgs.msg import Marker +from nav_msgs.msg import Odometry +from autonomy_config import FIXED_FRAME_ID, CAMERA_POSITION_OFFSET, ROUNDING_COEF, ROVER_MODEL_NAME, PointsFilters, MAX_DIST +import numpy as np +from typing import Set, Tuple, List +from scipy.spatial import ConvexHull +from bounding_boxes import get_all_hulls_vertices +import json + +class PointCloudTracker: + def __init__(self) -> None: + self.obstacle_points: Set[Tuple[float, float, float]] = set() + self.ground_points: Set[Tuple[float, float, float]] = set() + self.convex_hulls: List[ConvexHull] = [] + self.rviz_pc2_pub = rospy.Publisher('parsed_point_cloud', PointCloud2, queue_size=10) + self.rviz_marker_pub = rospy.Publisher('rover_position', Marker, queue_size=10) + self.rviz_polygon_pub_lst = {} #Dictionary Containing n publishers + self.map_grid = {} + def listener(self) -> None: + rospy.init_node('pc2_publisher_and_listener', anonymous=True) + rospy.Subscriber("/camera/depth/color/points", PointCloud2, self.parse_pointcloud2_message) + rospy.Subscriber("/track_cam/odom/sample", Odometry, self.update_rover_pos) + rospy.spin() + + def update_json(self): + location = self.get_rover_pose()[0] # Rover coordinates + location_output = (round(location[0], 1), round(location[1], 1)) + print("Updating Map") + with open ('prm/obstacles.json', "w") as jsonfile: + json.dump({"map":self.map_grid, "location": location_output}, jsonfile) + + def update_rover_pos(self, msg: Odometry): + self.rover_pose = msg + + def get_rover_pose(self) -> tuple: + data = self.rover_pose + rover_pose_quat = data.pose.pose.orientation + rover_pose_obj = data.pose.pose.position + return ( + rover_pose_obj.x, rover_pose_obj.y, rover_pose_obj.z + ), (rover_pose_quat.x, rover_pose_quat.y, rover_pose_quat.z, rover_pose_quat.w) + + def apply_camera_pose_transform(self, points_tuple: tuple, rover_position_tuple: tuple, camera_orientation_tuple: tuple) -> np.array: + + Drw = np.reshape(np.array(rover_position_tuple), (3, 1)) + + Rrw = self.quaternion_rotation_matrix(camera_orientation_tuple) + + Trw = np.vstack(( + np.hstack((Rrw, Drw)), + np.hstack((np.zeros((1, 3)), np.array([[1]]))) + )) + + Rcr = np.array( + [[0 ,0 ,1], + [0 ,1 ,0], + [-1 ,0 ,0]] + ) @ np.array( + [[0 ,1 ,0], + [-1,0 ,0], + [0 ,0 ,1]] + ) + + Dcr = np.reshape(CAMERA_POSITION_OFFSET, (3, 1)) + + Tcr = np.vstack(( + np.hstack((Rcr, Dcr)), + np.hstack((np.zeros((1, 3)), np.array([[1]]))) + )) + + P = np.vstack(( + points_tuple.T, + np.ones((points_tuple.shape[0],)) + )) + + return Trw @ Tcr @ P + + def parse_pointcloud2_message(self, msg: PointCloud2) -> None: + print(f'{len(self.obstacle_points)=}') + rover_position_tuple, rover_orientation_tuple = self.get_rover_pose() + points_np = np.array(list(pc2.read_points(msg, field_names=['x', 'y', 'z'], skip_nans=True))) + points_transformed_np = np.round(self.apply_camera_pose_transform(points_np, rover_position_tuple, rover_orientation_tuple).T, decimals=ROUNDING_COEF) + + new_obstacle_points = points_transformed_np[ + (points_transformed_np[:, 2] < PointsFilters.GROUND_LOWER_LIMIT) | + (points_transformed_np[:, 2] > PointsFilters.GROUND_UPPER_LIMIT) + ] + + """ + Using a rounding coefficient of 1, and resetting the self.obstacle points, with or without filters could produce results akin to the depth camera in rover gazebo + """ + self.obstacle_points = set() + + for p in new_obstacle_points: + if np.linalg.norm((p[0], p[1], p[2])) < MAX_DIST: + self.obstacle_points.add(tuple((p[0], p[1], p[2]))) + + self.publish_rover_position_to_rviz(rover_position_tuple) + if (len(self.obstacle_points) > 0): + self.publish_pc2_to_rviz() + self.publish_bounding_boxes_to_rviz() + + def publish_pc2_to_rviz(self) -> None: + header = Header() + header.stamp = rospy.Time.now() + header.frame_id = FIXED_FRAME_ID + fields = [PointField('x', 0, PointField.FLOAT32, 1), + PointField('y', 4, PointField.FLOAT32, 1), + PointField('z', 8, PointField.FLOAT32, 1)] + points = np.array(list(self.obstacle_points), dtype=np.float32) + data = points.tobytes() + cloud_msg = PointCloud2( + header=header, + height=1, + width = points.shape[0], + fields=fields, + is_dense=False, + is_bigendian=False, + point_step=12, + row_step=12 * points.shape[0], + data=data) + self.rviz_pc2_pub.publish(cloud_msg) + + def publish_rover_position_to_rviz(self, camera_pose_tuple: tuple) -> None: + marker = Marker() + marker.header.frame_id = FIXED_FRAME_ID + marker.type = marker.SPHERE + marker.action = marker.ADD + marker.scale.x = 0.2 + marker.scale.y = 0.2 + marker.scale.z = 0.2 + marker.color.a = 1.0 + marker.color.r = 1.0 + marker.color.g = 0.0 + marker.color.b = 0.0 + marker.pose.orientation.w = 1.0 + marker.pose.position.x = camera_pose_tuple[0] + marker.pose.position.y = camera_pose_tuple[1] + marker.pose.position.z = camera_pose_tuple[2] + self.rviz_marker_pub.publish(marker) + # print(f'Published {tuple(round(n, 2) for n in camera_pose_tuple)} ') + + def publish_bounding_boxes_to_rviz(self) -> None: + X = np.array([(t[0], t[1]) for t in self.obstacle_points]) + + for e, hull in enumerate(get_all_hulls_vertices(X)): + # Setting up the polygonStamped + polygon_stamped_msg = PolygonStamped() + polygon_stamped_msg.header.stamp = rospy.Time.now() + polygon_stamped_msg.header.frame_id = FIXED_FRAME_ID + polygon_stamped_msg.polygon.points = [Point32(x=x, y=y, z=0.5) for x, y in hull] + polygon_stamped_msg.header.seq = e + if e+1 > len(self.rviz_polygon_pub_lst): + for _ in range(e+1-len(self.rviz_polygon_pub_lst)): + self.rviz_polygon_pub_lst[e] = rospy.Publisher(f'obstacle_polygons/{e}', PolygonStamped, queue_size=10) + self.rviz_polygon_pub_lst[e].publish(polygon_stamped_msg) + print(f"Polygon count: {len(self.rviz_polygon_pub_lst)}") + ''' + else: + print(f'WARNING: {e=} is out of range of {len(self.rviz_polygon_pub_lst)=}')''' + + def quaternion_rotation_matrix(self, Q: tuple): + """ + Covert a quaternion into a full three-dimensional rotation matrix. + + Input + :param Q: A 4 element array representing the quaternion (q0,q1,q2,q3) + + Output + :return: A 3x3 element matrix representing the full 3D rotation matrix. + This rotation matrix converts a point in the local reference + frame to a point in the global reference frame. + """ + # Extract the values from Q + q0 = Q[3] + q1 = Q[0] + q2 = Q[1] + q3 = Q[2] + + # First row of the rotation matrix + r00 = 2 * (q0 * q0 + q1 * q1) - 1 + r01 = 2 * (q1 * q2 - q0 * q3) + r02 = 2 * (q1 * q3 + q0 * q2) + + # Second row of the rotation matrix + r10 = 2 * (q1 * q2 + q0 * q3) + r11 = 2 * (q0 * q0 + q2 * q2) - 1 + r12 = 2 * (q2 * q3 - q0 * q1) + + # Third row of the rotation matrix + r20 = 2 * (q1 * q3 - q0 * q2) + r21 = 2 * (q2 * q3 + q0 * q1) + r22 = 2 * (q0 * q0 + q3 * q3) - 1 + + # 3x3 rotation matrix + rot_matrix = np.array([[r00, r01, r02], + [r10, r11, r12], + [r20, r21, r22]]) + + return rot_matrix + +if __name__ == '__main__': + trcker = PointCloudTracker() + trcker.listener() \ No newline at end of file diff --git a/realsense_utils/LICENSE b/realsense_utils/LICENSE new file mode 100644 index 00000000..f8098cd3 --- /dev/null +++ b/realsense_utils/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright 2017 Intel Corporation + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/realsense_utils/NOTICE b/realsense_utils/NOTICE new file mode 100644 index 00000000..f9862870 --- /dev/null +++ b/realsense_utils/NOTICE @@ -0,0 +1,4 @@ +This project uses code from the following third-party projects, listed here +with the full text of their respective licenses. + +ddynamic_reconfigure (BSD) - https://github.com/awesomebytes/ddynamic_reconfigure diff --git a/realsense_utils/README.md b/realsense_utils/README.md new file mode 100644 index 00000000..e71d646d --- /dev/null +++ b/realsense_utils/README.md @@ -0,0 +1,335 @@ +# ROS Wrapper for Intel® RealSense™ Devices +These are packages for using Intel RealSense cameras (D400 series SR300 camera and T265 Tracking Module) with ROS. + +This version supports Kinetic, Melodic and Noetic distributions. + +For running in ROS2 environment please switch to the [ros2-development branch](https://github.com/IntelRealSense/realsense-ros/tree/ros2-development).
+ +LibRealSense2 supported version: v2.50.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases)) + +## Installation Instructions + +### Ubuntu + #### Step 1: Install the ROS distribution + - #### Install [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu), on Ubuntu 16.04, [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu) on Ubuntu 18.04 or [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) on Ubuntu 20.04. + +### Windows + #### Step 1: Install the ROS distribution + - #### Install [ROS Melodic or later on Windows 10](https://wiki.ros.org/Installation/Windows) + + +### There are 2 sources to install realsense2_camera from: + +* ### Method 1: The ROS distribution: + + *Ubuntu* + + realsense2_camera is available as a debian package of ROS distribution. It can be installed by typing: + + ```sudo apt-get install ros-$ROS_DISTRO-realsense2-camera``` + + This will install both realsense2_camera and its dependents, including librealsense2 library and matching udev-rules. + + Notice: + * The version of librealsense2 is almost always behind the one available in the RealSense™ official repository. + * librealsense2 is not built to use native v4l2 driver but the less stable RS-USB protocol. That is because the last is more general and operational on a larger variety of platforms. + * realsense2_description is available as a separate debian package of ROS distribution. It includes the 3D-models of the devices and is necessary for running launch files that include these models (i.e. rs_d435_camera_with_model.launch). It can be installed by typing: + `sudo apt-get install ros-$ROS_DISTRO-realsense2-description` + + *Windows* + + **Chocolatey distribution Coming soon** + +* ### Method 2: The RealSense™ distribution: + > This option is demonstrated in the [.travis.yml](https://github.com/intel-ros/realsense/blob/ros1-legacy/.travis.yml) file. It basically summerize the elaborate instructions in the following 2 steps: + + + ### Step 1: Install the latest Intel® RealSense™ SDK 2.0 + + *Ubuntu* + + Install librealsense2 debian package: + * Jetson users - use the [Jetson Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md) + * Otherwise, install from [Linux Debian Installation Guide](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) + - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense2-dkms packages. + + *Windows* + Install using vcpkg + + `vcpkg install realsense2:x64-windows` + + #### OR + - #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.50.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md) + + + ### Step 2: Install Intel® RealSense™ ROS from Sources + - Create a [catkin](http://wiki.ros.org/catkin#Installing_catkin) workspace + *Ubuntu* + ```bash + mkdir -p ~/catkin_ws/src + cd ~/catkin_ws/src/ + ``` + *Windows* + ```batch + mkdir c:\catkin_ws\src + cd c:\catkin_ws\src + ``` + + - Clone the latest Intel® RealSense™ ROS from [here](https://github.com/intel-ros/realsense/releases) into 'catkin_ws/src/' + ```bashrc + git clone https://github.com/IntelRealSense/realsense-ros.git + cd realsense-ros/ + git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1` + cd .. + ``` + - Make sure all dependent packages are installed. You can check .travis.yml file for reference. + - Specifically, make sure that the ros package *ddynamic_reconfigure* is installed. If *ddynamic_reconfigure* cannot be installed using APT or if you are using *Windows* you may clone it into your workspace 'catkin_ws/src/' from [here](https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel) + + + ```bash + catkin_init_workspace + cd .. + catkin_make clean + catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release + catkin_make install + ``` + + *Ubuntu* + ```bash + echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc + source ~/.bashrc + ``` + + *Windows* + ```batch + devel\setup.bat + ``` + +## Usage Instructions + +### Start the camera node +To start the camera node in ROS: + +```bash +roslaunch realsense2_camera rs_camera.launch +``` + +This will stream all camera sensors and publish on the appropriate ROS topics. + +Other stream resolutions and frame rates can optionally be provided as parameters to the 'rs_camera.launch' file. + +### Published Topics +The published topics differ according to the device and parameters. +After running the above command with D435i attached, the following list of topics will be available (This is a partial list. For full one type `rostopic list`): +- /camera/color/camera_info +- /camera/color/image_raw +- /camera/color/metadata +- /camera/depth/camera_info +- /camera/depth/image_rect_raw +- /camera/depth/metadata +- /camera/extrinsics/depth_to_color +- /camera/extrinsics/depth_to_infra1 +- /camera/extrinsics/depth_to_infra2 +- /camera/infra1/camera_info +- /camera/infra1/image_rect_raw +- /camera/infra2/camera_info +- /camera/infra2/image_rect_raw +- /camera/gyro/imu_info +- /camera/gyro/metadata +- /camera/gyro/sample +- /camera/accel/imu_info +- /camera/accel/metadata +- /camera/accel/sample +- /diagnostics + +>Using an L515 device the list differs a little by adding a 4-bit confidence grade (pulished as a mono8 image): +>- /camera/confidence/camera_info +>- /camera/confidence/image_rect_raw +> +>It also replaces the 2 infrared topics with the single available one: +>- /camera/infra/camera_info +>- /camera/infra/image_raw + + +The "/camera" prefix is the default and can be changed. Check the rs_multiple_devices.launch file for an example. +If using D435 or D415, the gyro and accel topics wont be available. Likewise, other topics will be available when using T265 (see below). + +### Launch parameters +The following parameters are available by the wrapper: +- **serial_no**: will attach to the device with the given serial number (*serial_no*) number. Default, attach to available RealSense device in random. +- **usb_port_id**: will attach to the device with the given USB port (*usb_port_id*). i.e 4-1, 4-2 etc. Default, ignore USB port when choosing a device. +- **device_type**: will attach to a device whose name includes the given *device_type* regular expression pattern. Default, ignore device type. For example, device_type:=d435 will match d435 and d435i. device_type=d435(?!i) will match d435 but not d435i. + +- **rosbag_filename**: Will publish topics from rosbag file. +- **initial_reset**: On occasions the device was not closed properly and due to firmware issues needs to reset. If set to true, the device will reset prior to usage. +- **reconnect_timeout**: When the driver cannot connect to the device try to reconnect after this timeout (in seconds). +- **align_depth**: If set to true, will publish additional topics for the "aligned depth to color" image.: ```/camera/aligned_depth_to_color/image_raw```, ```/camera/aligned_depth_to_color/camera_info```.
+The pointcloud, if enabled, will be built based on the aligned_depth_to_color image.
+- **filters**: any of the following options, separated by commas:
+ - ```colorizer```: will color the depth image. On the depth topic an RGB image will be published, instead of the 16bit depth values . + - ```pointcloud```: will add a pointcloud topic `/camera/depth/color/points`. + * The texture of the pointcloud can be modified in rqt_reconfigure (see below) or using the parameters: `pointcloud_texture_stream` and `pointcloud_texture_index`. Run rqt_reconfigure to see available values for these parameters.
+ * The depth FOV and the texture FOV are not similar. By default, pointcloud is limited to the section of depth containing the texture. You can have a full depth to pointcloud, coloring the regions beyond the texture with zeros, by setting `allow_no_texture_points` to true. + * pointcloud is of an unordered format by default. This can be changed by setting `ordered_pc` to true. +- ```hdr_merge```: Allows depth image to be created by merging the information from 2 consecutive frames, taken with different exposure and gain values. The way to set exposure and gain values for each sequence in runtime is by first selecting the sequence id, using rqt_reconfigure `stereo_module/sequence_id` parameter and then modifying the `stereo_module/gain`, and `stereo_module/exposure`.
To view the effect on the infrared image for each sequence id use the `sequence_id_filter/sequence_id` parameter.
To initialize these parameters in start time use the following parameters:
+ `stereo_module/exposure/1`, `stereo_module/gain/1`, `stereo_module/exposure/2`, `stereo_module/gain/2`
+ \* For in-depth review of the subject please read the accompanying [white paper](https://dev.intelrealsense.com/docs/high-dynamic-range-with-stereoscopic-depth-cameras). + + - The following filters have detailed descriptions in : https://github.com/IntelRealSense/librealsense/blob/master/doc/post-processing-filters.md + - ```disparity``` - convert depth to disparity before applying other filters and back. + - ```spatial``` - filter the depth image spatially. + - ```temporal``` - filter the depth image temporally. + - ```hole_filling``` - apply hole-filling filter. + - ```decimation``` - reduces depth scene complexity. +- **enable_sync**: gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag. This happens automatically when such filters as pointcloud are enabled. +- ****_width**, ****_height**, ****_fps**: can be any of *infra, color, fisheye, depth, gyro, accel, pose, confidence*. Sets the required format of the device. If the specified combination of parameters is not available by the device, the stream will be replaced with the default for that stream. Setting a value to 0, will choose the first format in the inner list. (i.e. consistent between runs but not defined).
*Note: for gyro accel and pose, only _fps option is meaningful. +- **enable_****: Choose whether to enable a specified stream or not. Default is true for images and false for orientation streams. can be any of *infra1, infra2, color, depth, fisheye, fisheye1, fisheye2, gyro, accel, pose, confidence*. +- **tf_prefix**: By default all frame's ids have the same prefix - `camera_`. This allows changing it per camera. +- ****_frame_id**, ****_optical_frame_id**, **aligned_depth_to_**_frame_id**: Specify the different frame_id for the different frames. Especially important when using multiple cameras. +- **base_frame_id**: defines the frame_id all static transformations refers to. +- **odom_frame_id**: defines the origin coordinate system in ROS convention (X-Forward, Y-Left, Z-Up). pose topic defines the pose relative to that system. +- **All the rest of the frame_ids can be found in the template launch file: [nodelet.launch.xml](./realsense2_camera/launch/includes/nodelet.launch.xml)** +- **unite_imu_method**: The D435i and T265 cameras have built in IMU components which produce 2 unrelated streams: *gyro* - which shows angular velocity and *accel* which shows linear acceleration. Each with it's own frequency. By default, 2 corresponding topics are available, each with only the relevant fields of the message sensor_msgs::Imu are filled out. +Setting *unite_imu_method* creates a new topic, *imu*, that replaces the default *gyro* and *accel* topics. The *imu* topic is published at the rate of the gyro. All the fields of the Imu message under the *imu* topic are filled out. + - **linear_interpolation**: Every gyro message is attached by the an accel message interpolated to the gyro's timestamp. + - **copy**: Every gyro message is attached by the last accel message. +- **clip_distance**: remove from the depth image all values above a given value (meters). Disable by giving negative value (default) +- **linear_accel_cov**, **angular_velocity_cov**: sets the variance given to the Imu readings. For the T265, these values are being modified by the inner confidence value. +- **hold_back_imu_for_frames**: Images processing takes time. Therefor there is a time gap between the moment the image arrives at the wrapper and the moment the image is published to the ROS environment. During this time, Imu messages keep on arriving and a situation is created where an image with earlier timestamp is published after Imu message with later timestamp. If that is a problem, setting *hold_back_imu_for_frames* to *true* will hold the Imu messages back while processing the images and then publish them all in a burst, thus keeping the order of publication as the order of arrival. Note that in either case, the timestamp in each message's header reflects the time of it's origin. +- **topic_odom_in**: For T265, add wheel odometry information through this topic. The code refers only to the *twist.linear* field in the message. +- **calib_odom_file**: For the T265 to include odometry input, it must be given a [configuration file](https://github.com/IntelRealSense/librealsense/blob/master/unit-tests/resources/calibration_odometry.json). Explanations can be found [here](https://github.com/IntelRealSense/librealsense/pull/3462). The calibration is done in ROS coordinates system. +- **publish_tf**: boolean, publish or not TF at all. Defaults to True. +- **tf_publish_rate**: double, positive values mean dynamic transform publication with specified rate, all other values mean static transform publication. Defaults to 0 +- **publish_odom_tf**: If True (default) publish TF from odom_frame to pose_frame. +- **infra_rgb**: When set to True (default: False), it configures the infrared camera to stream in RGB (color) mode, thus enabling the use of a RGB image in the same frame as the depth image, potentially avoiding frame transformation related errors. When this feature is required, you are additionally required to also enable `enable_infra:=true` for the infrared stream to be enabled. + - **NOTE** The configuration required for `enable_infra` is independent of `enable_depth` + - **NOTE** To enable the Infrared stream, you should enable `enable_infra:=true` NOT `enable_infra1:=true` nor `enable_infra2:=true` + - **NOTE** This feature is only supported by Realsense sensors with RGB streams available from the `infra` cameras, which can be checked by observing the output of `rs-enumerate-devices` + +### Available services: +- reset : Cause a hardware reset of the device. Usage: `rosservice call /camera/realsense2_camera/reset` +- enable : Start/Stop all streaming sensors. Usage example: `rosservice call /camera/enable False"` +- device_info : retrieve information about the device - serial_number, firmware_version etc. Type `rosservice type /camera/realsense2_camera/device_info | rossrv show` for the full list. Call example: `rosservice call /camera/realsense2_camera/device_info` + +### Point Cloud +Here is an example of how to start the camera node and make it publish the point cloud using the pointcloud option. +```bash +roslaunch realsense2_camera rs_camera.launch filters:=pointcloud +``` +Then open rviz to watch the pointcloud: +

+ +### Aligned Depth Frames +Here is an example of how to start the camera node and make it publish the aligned depth stream to other available streams such as color or infra-red. +```bash +roslaunch realsense2_camera rs_camera.launch align_depth:=true +``` +

+ +### Set Camera Controls Using Dynamic Reconfigure Params +The following command allow to change camera control values using [http://wiki.ros.org/rqt_reconfigure]. +```bash +rosrun rqt_reconfigure rqt_reconfigure +``` +

+ +### Work with multiple cameras +**Important Notice:** Launching multiple T265 cameras is currently not supported. This will be addressed in a later version. + +Here is an example of how to start the camera node and streaming with two cameras using the [rs_multiple_devices.launch](./realsense2_camera/launch/rs_multiple_devices.launch). +```bash +roslaunch realsense2_camera rs_multiple_devices.launch serial_no_camera1:= serial_no_camera2:= +``` +The camera serial number should be provided to `serial_no_camera1` and `serial_no_camera2` parameters. One way to get the serial number is from the [rs-enumerate-devices](https://github.com/IntelRealSense/librealsense/blob/58d99783cc2781b1026eeed959aa3f7b562b20ca/tools/enumerate-devices/readme.md) tool. +```bash +rs-enumerate-devices | grep Serial +``` + +Another way of obtaining the serial number is connecting the camera alone, running +```bash +roslaunch realsense2_camera rs_camera.launch +``` +and looking for the serial number in the log printed to screen under "[INFO][...]Device Serial No:". + +Another way to use multiple cameras is running each from a different terminal. Make sure you set a different namespace for each camera using the "camera" argument: + +```bash +roslaunch realsense2_camera rs_camera.launch camera:=cam_1 serial_no:= +roslaunch realsense2_camera rs_camera.launch camera:=cam_2 serial_no:= +... + +``` +## Using T265 ## + +### Start the camera node +To start the camera node in ROS: + +```bash +roslaunch realsense2_camera rs_t265.launch +``` + +This will stream all camera sensors and publish on the appropriate ROS topics. + +The T265 sets its usb unique ID during initialization and without this parameter it wont be found. +Once running it will publish, among others, the following topics: +- /camera/odom/sample +- /camera/accel/sample +- /camera/gyro/sample +- /camera/fisheye1/image_raw +- /camera/fisheye2/image_raw + +To visualize the pose output and frames in RViz, start: +```bash +roslaunch realsense2_camera demo_t265.launch +``` + +### About Frame ID +The wrapper publishes static transformations(TFs). The Frame Ids are divided into 3 groups: +- ROS convention frames: follow the format of \_<\_stream>"\_frame" for example: camera_depth_frame, camera_infra1_frame, etc. +- Original frame coordinate system: with the suffix of <\_optical_frame>. For example: camera_infra1_optical_frame. Check the device documentation for specific coordinate system for each stream. +- base_link: For example: camera_link. A reference frame for the device. In D400 series and SR300 it is the depth frame. In T265, the pose frame. + + +### realsense2_description package: +For viewing included models, a separate package is included. For example: +```bash +roslaunch realsense2_description view_d415_model.launch +``` + +### Unit tests: +Unit-tests are based on bag files saved on S3 server. These can be downloaded using the following commands: +```bash +cd catkin_ws +wget "https://librealsense.intel.com/rs-tests/TestData/outdoors.bag" -P "records/" +wget "https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag" -P "records/" +``` +Then, unit-tests can be run using the following command (use either python or python3): +```bash +python src/realsense/realsense2_camera/scripts/rs2_test.py --all +``` + +## Packages using RealSense ROS Camera +| Title | Links | +| ----- | ----- | +| ROS Object Analytics | [github](https://github.com/intel/ros_object_analytics) / [ROS Wiki](http://wiki.ros.org/IntelROSProject) + +## Known Issues +* This ROS node does not currently support [ROS Lunar Loggerhead](http://wiki.ros.org/lunar). +* This ROS node currently does not support running multiple T265 cameras at once. This will be addressed in a future update. + +## License +Copyright 2018 Intel Corporation + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this project except in compliance with the License. +You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. + +**Other names and brands may be claimed as the property of others* diff --git a/realsense_utils/realsense2_camera/.gitignore b/realsense_utils/realsense2_camera/.gitignore new file mode 100644 index 00000000..01e00f3a --- /dev/null +++ b/realsense_utils/realsense2_camera/.gitignore @@ -0,0 +1 @@ +CMakeLists.txt.user diff --git a/realsense_utils/realsense2_camera/CHANGELOG.rst b/realsense_utils/realsense2_camera/CHANGELOG.rst new file mode 100644 index 00000000..b6f04985 --- /dev/null +++ b/realsense_utils/realsense2_camera/CHANGELOG.rst @@ -0,0 +1,121 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package realsense2_camera +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.3.2 (2021-11-15) +------------------ +* publish metadata +* Add service: device_info +* add wait_for_device_timeout parameter +* Add reconnect_timeout parameter +* show warning when requested profile cannot be selected. +* send only 4 distortion coeffs when using equidistant +* fixed missing std namespace +* Removing spaces when iterating filters +* Contributors: Collin Avidano, Gintaras, Jacco van der Spek, doronhi + +2.3.1 (2021-07-01) +------------------ +* add respawn option +* add udev rules to debian installation +* Add support for L535 +* Fix occasional missing diagnostic messages +* Contributors: Alex Fernandes Neves, doronhi + +2.3.0 (2021-05-05) +------------------ +* Fix pointcloud message size when no texture is added. +* Added filling correct Tx, Ty values in projection matrix of right camera. +* Fixed frame_id of right sensor to match left sensor in a stereo pair.pair +* Contributors: Pavlo Kolomiiets, doronhi + +2.2.24 (2021-04-21) +------------------- +* Enabling pointcloud while align_depth is set to true creates a pointcloud aligned to color image. +* Removed option to align depth to other streams other then color. +* Contributors: doronhi + +2.2.23 (2021-03-24) +------------------- +* Remove the following tests for known playback issue with librealsense2 version 2.43.0: points_cloud_1, align_depth_color_1, align_depth_ir1_1, align_depth_ir1_decimation_1. +* Add filter: HDR_merge +* add default values to infra stream in rs_camera.launch as non are defined in librealsense2. +* fix bug: selection of profile disregarded stream index. +* fix initialization of colorizer inner image +* Contributors: doronhi + +2.2.22 (2021-02-18) +------------------- +* Add reset service. +* fix timestamp domain issues + - Add offset to ros_time only if device uses hardware-clock. Otherwise use device time - either system_time or global_time. + - Warn of a hardware timestamp possible loop. +* Choose the default profile in case of an invalid request. +* Avoid aligning confidence image. +* Add an option for an Ordered PointCloud. +* Contributors: Isaac I.Y. Saito, Itamar Eliakim, Marc Alban, doronhi + +2.2.21 (2020-12-31) +------------------- +* Publish depth confidence image for supporting devices (L515) +* fix reading json file with device other than D400 series. +* remove (temporarily) flaky IMU unit-test. +* Contributors: Isaac I.Y. Saito, doronhi + +2.2.20 (2020-11-19) +------------------- +* Add Support - Noetic +* Add demo for using intrinsics from camera_info (show_center_depth.py). +* Add launch option: send logs to ros log file. +* Add feature: get rgb stream from infrared sensor (applies to D415) +* Add feature: Add notification if connected using USB2.1 port. +* Fix bug: Avoid z16h format +* Fix bug: monitor streams frequency without subsribing. +* Fix bug: extrinsincs for right stereo camera refers to the left stereo camera. +* Contributors: Abhijit Majumdar, Isaac I. Y. Saito, Jakub, M-frctrl, Thomas Jespersen, doronhi + +2.2.18 (2020-10-26) +------------------- +* Fix bug: Remove parameter with invalid value. +* Fix bug: Colorize the aligned depth image. +* Fix bug: Added pointcloud attributes, when RS2_STREAM_ANY is enabled +* Add feature: enable/disable all sensors. Known issues: parameters persistency and not full power drop. + +2.2.17 (2020-09-09) +------------------- +* Fix for ROS on Windows +* Contributors: Lou Amadio, doronhi + +2.2.16 (2020-08-06) +------------------- +* Add PID to support D455. +* Improve instability of dynamic reconfigurable options. +* rs_camera.lauch: add "enable_infra" for L515 support. +* Contributors: doronhi + +2.2.15 (2020-07-13) +------------------- +* Check runtime version of librealsense2 vs. compiled version and issue a warning is mismatch occurs. +* Support both L515 and L515 pre-prq versions. +* set infra, fisheye, IMU and pose streams to be false by default. +* add d435i-xacro +* comply to ROS Noetic xacro rules (backcompatible with ROS Melodic) +* Contributors: Marco Camurri, doronhi + +2.2.14 (2020-06-18) +------------------- +* Fix compatibility with Librealsense2 Version 2.35.2. +* Fix support for L515. +* Fix urdf issues. +* Add noetic support: change state_publisher into robot_state_publisher +* fix distortion correction model for T265 (equidistant) +* fix stability issues. Stop sensors at program termination. +* Contributors: Brice, Helen Oleynikova, doronhi + +* upgrade version to 2.2.13 +* fix ctrl-C closing issues. +* handle device creation exceptions. +* support LiDAR camera L515. +* optimize pointcloud. Contributors: Davide Faconti +* fix usb port id parsing issues. +* Add eigen dependency - missing for Melodic. Contributors: Antoine Hoarau diff --git a/realsense_utils/realsense2_camera/CMakeLists.txt b/realsense_utils/realsense2_camera/CMakeLists.txt new file mode 100644 index 00000000..48726dca --- /dev/null +++ b/realsense_utils/realsense2_camera/CMakeLists.txt @@ -0,0 +1,168 @@ +cmake_minimum_required(VERSION 2.8.3) +project(realsense2_camera) +add_compile_options(-std=c++11) + +option(BUILD_WITH_OPENMP "Use OpenMP" OFF) +option(SET_USER_BREAK_AT_STARTUP "Set user wait point in startup (for debug)" OFF) + +add_definitions(-D_CRT_SECURE_NO_WARNINGS) +set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON) + +find_package(catkin REQUIRED COMPONENTS + message_generation + nav_msgs + roscpp + sensor_msgs + std_msgs + std_srvs + nodelet + cv_bridge + image_geometry + image_transport + tf + ddynamic_reconfigure + diagnostic_updater + ) + +find_package(OpenCV REQUIRED) + +if(BUILD_WITH_OPENMP) + find_package(OpenMP) + if(NOT OpenMP_FOUND) + message(FATAL_ERROR "\n\n OpenMP is missing!\n\n") + else() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -fopenmp") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}") + endif() +endif() + +if(SET_USER_BREAK_AT_STARTUP) + message("GOT FLAG IN CmakeLists.txt") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBPDEBUG") +endif() + +if (WIN32) +find_package(realsense2 CONFIG REQUIRED) +else() +find_package(realsense2 2.50.0) +endif() + +if(NOT realsense2_FOUND) + message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n") +endif() + +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE Release) +endif() + +string(TOUPPER "${CMAKE_BUILD_TYPE}" uppercase_CMAKE_BUILD_TYPE) +if (${uppercase_CMAKE_BUILD_TYPE} STREQUAL "RELEASE") + message(STATUS "Create Release Build.") + set(CMAKE_CXX_FLAGS "-O2 ${CMAKE_CXX_FLAGS}") +else() + message(STATUS "Create Debug Build.") +endif() + +if (WIN32) +else() +set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}") +endif() + +add_message_files( + FILES + IMUInfo.msg + Extrinsics.msg + Metadata.msg + ) + +add_service_files( + FILES + DeviceInfo.srv +) + +generate_messages( + DEPENDENCIES + sensor_msgs + std_msgs + ) + +set(CMAKE_NO_SYSTEM_FROM_IMPORTED true) +include_directories( + include + ${realsense2_INCLUDE_DIR} + ${realsense2_INCLUDE_DIR} + ${catkin_INCLUDE_DIRS} + ) + +# RealSense ROS Node +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME} + CATKIN_DEPENDS message_runtime roscpp sensor_msgs std_msgs + nodelet + cv_bridge + image_transport + image_geometry + ddynamic_reconfigure + nav_msgs + ) + +add_library(${PROJECT_NAME} + include/realsense2_camera/constants.h + include/realsense2_camera/realsense_node_factory.h + include/realsense2_camera/base_realsense_node.h + include/realsense2_camera/t265_realsense_node.h + src/realsense_node_factory.cpp + src/base_realsense_node.cpp + src/t265_realsense_node.cpp + ) + +add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp) +add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) + +target_include_directories(${PROJECT_NAME} + PRIVATE ${realsense2_INCLUDE_DIR}) + +target_link_libraries(${PROJECT_NAME} + ${realsense2_LIBRARY} + ${catkin_LIBRARIES} + ${CMAKE_THREAD_LIBS_INIT} + ${OpenCV_LIBRARIES} + ) + +if(WIN32) +set_target_properties(${realsense2_LIBRARY} PROPERTIES MAP_IMPORTED_CONFIG_RELWITHDEBINFO RELEASE) +target_link_libraries(${PROJECT_NAME} + realsense2::realsense2 + realsense2::realsense-file + ) +endif() + + +# Install nodelet library +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +# Install header files +install(DIRECTORY include/realsense2_camera + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + ) + +# Install launch files +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + ) + +# Install rviz files +install(DIRECTORY rviz/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz + ) + +# Install xml files +install(FILES nodelet_plugins.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + ) + diff --git a/realsense_utils/realsense2_camera/debian/udev.em b/realsense_utils/realsense2_camera/debian/udev.em new file mode 100644 index 00000000..ca9dd16d --- /dev/null +++ b/realsense_utils/realsense2_camera/debian/udev.em @@ -0,0 +1,81 @@ +##Version=1.1## +# Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200) +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a66", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0abf", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0acb", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad0", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="04b4", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad1", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad4", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad6", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af6", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b03", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b07", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0c", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b48", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b49", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0666", GROUP:="plugdev" + +# Intel RealSense recovery devices (DFU) +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adb", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adc", MODE:="0666", GROUP:="plugdev" +SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b55", MODE:="0666", GROUP:="plugdev" + +# Intel RealSense devices (Movidius, T265) +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0af3", MODE="0666", GROUP="plugdev" +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0b37", MODE="0666", GROUP="plugdev" +SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="03e7", ATTRS{idProduct}=="2150", MODE="0666", GROUP="plugdev" + +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'" +DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b68", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'" + +# For products with motion_module, if (kernels is 4.15 and up) and (device name is "accel_3d") wait, in another process, until (enable flag is set to 1 or 200 mSec passed) and then set it to 0. +KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b64|0b68", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $major -eq 4 ] && [ $minor -ge 15 ]) || [ $major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$COUNTER -lt 20 ] && grep -q 0 $enfile; do sleep 0.01; COUNTER=\$((COUNTER+1)); done && echo 0 > $enfile\" | at now'" diff --git a/realsense_utils/realsense2_camera/include/realsense2_camera/base_realsense_node.h b/realsense_utils/realsense2_camera/include/realsense2_camera/base_realsense_node.h new file mode 100644 index 00000000..de1364ec --- /dev/null +++ b/realsense_utils/realsense2_camera/include/realsense2_camera/base_realsense_node.h @@ -0,0 +1,345 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2018 Intel Corporation. All Rights Reserved + +#pragma once + +#include "realsense2_camera/realsense_node_factory.h" +#include +#include "realsense2_camera/Metadata.h" +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace realsense2_camera +{ + struct FrequencyDiagnostics + { + FrequencyDiagnostics(double expected_frequency, std::string name, std::string hardware_id) : + expected_frequency_(expected_frequency), + frequency_status_(diagnostic_updater::FrequencyStatusParam(&expected_frequency_, &expected_frequency_)), + diagnostic_updater_(ros::NodeHandle(), ros::NodeHandle("~"), ros::this_node::getName() + "_" + name) + { + ROS_INFO("Expected frequency for %s = %.5f", name.c_str(), expected_frequency_); + diagnostic_updater_.setHardwareID(hardware_id); + diagnostic_updater_.add(frequency_status_); + } + + void tick() + { + frequency_status_.tick(); + } + + void update() + { + diagnostic_updater_.update(); + } + + double expected_frequency_; + diagnostic_updater::FrequencyStatus frequency_status_; + diagnostic_updater::Updater diagnostic_updater_; + }; + typedef std::pair> ImagePublisherWithFrequencyDiagnostics; + + class TemperatureDiagnostics + { + public: + TemperatureDiagnostics(std::string name, std::string serial_no); + void diagnostics(diagnostic_updater::DiagnosticStatusWrapper& status); + + void update(double crnt_temperaure) + { + _crnt_temp = crnt_temperaure; + _updater.update(); + } + + private: + double _crnt_temp; + diagnostic_updater::Updater _updater; + + }; + + class NamedFilter + { + public: + std::string _name; + std::shared_ptr _filter; + + public: + NamedFilter(std::string name, std::shared_ptr filter): + _name(name), _filter(filter) + {} + }; + + class PipelineSyncer : public rs2::asynchronous_syncer + { + public: + void operator()(rs2::frame f) const + { + invoke(std::move(f)); + } + }; + + class SyncedImuPublisher + { + public: + SyncedImuPublisher() {_is_enabled=false;}; + SyncedImuPublisher(ros::Publisher imu_publisher, std::size_t waiting_list_size=1000); + ~SyncedImuPublisher(); + void Pause(); // Pause sending messages. All messages from now on are saved in queue. + void Resume(); // Send all pending messages and allow sending future messages. + void Publish(sensor_msgs::Imu msg); //either send or hold message. + uint32_t getNumSubscribers() { return _publisher.getNumSubscribers();}; + void Enable(bool is_enabled) {_is_enabled=is_enabled;}; + + private: + void PublishPendingMessages(); + + private: + std::mutex _mutex; + ros::Publisher _publisher; + bool _pause_mode; + std::queue _pending_messages; + std::size_t _waiting_list_size; + bool _is_enabled; + }; + + class BaseRealSenseNode : public InterfaceRealSenseNode + { + public: + BaseRealSenseNode(ros::NodeHandle& nodeHandle, + ros::NodeHandle& privateNodeHandle, + rs2::device dev, + const std::string& serial_no); + + virtual void toggleSensors(bool enabled) override; + virtual void publishTopics() override; + virtual void registerDynamicReconfigCb(ros::NodeHandle& nh) override; + virtual ~BaseRealSenseNode(); + + public: + enum imu_sync_method{NONE, COPY, LINEAR_INTERPOLATION}; + + protected: + class float3 + { + public: + float x, y, z; + + public: + float3& operator*=(const float& factor) + { + x*=factor; + y*=factor; + z*=factor; + return (*this); + } + float3& operator+=(const float3& other) + { + x+=other.x; + y+=other.y; + z+=other.z; + return (*this); + } + }; + + bool _is_running; + std::string _base_frame_id; + std::string _odom_frame_id; + std::map _frame_id; + std::map _optical_frame_id; + std::map _depth_aligned_frame_id; + ros::NodeHandle& _node_handle, _pnh; + bool _align_depth; + std::vector _monitor_options; + std::shared_ptr _device_info_srv; + + virtual void calcAndPublishStaticTransform(const stream_index_pair& stream, const rs2::stream_profile& base_profile); + bool getDeviceInfo(realsense2_camera::DeviceInfo::Request& req, + realsense2_camera::DeviceInfo::Response& res); + rs2::stream_profile getAProfile(const stream_index_pair& stream); + tf::Quaternion rotationMatrixToQuaternion(const float rotation[9]) const; + void publish_static_tf(const ros::Time& t, + const float3& trans, + const tf::Quaternion& q, + const std::string& from, + const std::string& to); + + + private: + class CimuData + { + public: + CimuData() : m_time(-1) {}; + CimuData(const stream_index_pair type, Eigen::Vector3d data, double time): + m_type(type), + m_data(data), + m_time(time){}; + bool is_set() {return m_time > 0;}; + public: + stream_index_pair m_type; + Eigen::Vector3d m_data; + double m_time; + }; + + static std::string getNamespaceStr(); + void getParameters(); + void setupDevice(); + void setupErrorCallback(); + void setupPublishers(); + void enable_devices(); + void setupFilters(); + void setupStreams(); + bool setBaseTime(double frame_time, rs2_timestamp_domain time_domain); + double frameSystemTimeSec(rs2::frame frame); + cv::Mat& fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image); + void clip_depth(rs2::depth_frame depth_frame, float clipping_dist); + void updateStreamCalibData(const rs2::video_stream_profile& video_profile); + void SetBaseStream(); + void publishStaticTransforms(); + void publishDynamicTransforms(); + void publishIntrinsics(); + void runFirstFrameInitialization(rs2_stream stream_type); + void publishPointCloud(rs2::points f, const ros::Time& t, const rs2::frameset& frameset); + Extrinsics rsExtrinsicsToMsg(const rs2_extrinsics& extrinsics, const std::string& frame_id) const; + + IMUInfo getImuInfo(const stream_index_pair& stream_index); + void publishFrame(rs2::frame f, const ros::Time& t, + const stream_index_pair& stream, + std::map& images, + const std::map& info_publishers, + const std::map& image_publishers, + const bool is_publishMetadata, + std::map& seq, + std::map& camera_info, + const std::map& encoding, + bool copy_data_from_frame = true); + void publishMetadata(rs2::frame f, const ros::Time& header_time, const std::string& frame_id); + bool getEnabledProfile(const stream_index_pair& stream_index, rs2::stream_profile& profile); + + void publishAlignedDepthToOthers(rs2::frameset frames, const ros::Time& t); + sensor_msgs::Imu CreateUnitedMessage(const CimuData accel_data, const CimuData gyro_data); + + void FillImuData_Copy(const CimuData imu_data, std::deque& imu_msgs); + void ImuMessage_AddDefaultValues(sensor_msgs::Imu& imu_msg); + void FillImuData_LinearInterpolation(const CimuData imu_data, std::deque& imu_msgs); + void imu_callback(rs2::frame frame); + void imu_callback_sync(rs2::frame frame, imu_sync_method sync_method=imu_sync_method::COPY); + void pose_callback(rs2::frame frame); + void multiple_message_callback(rs2::frame frame, imu_sync_method sync_method); + void frame_callback(rs2::frame frame); + void registerDynamicOption(ros::NodeHandle& nh, rs2::options sensor, std::string& module_name); + void registerHDRoptions(); + void set_sensor_parameter_to_ros(const std::string& module_name, rs2::options sensor, rs2_option option); + void monitor_update_functions(); + void readAndSetDynamicParam(ros::NodeHandle& nh1, std::shared_ptr ddynrec, const std::string option_name, const int min_val, const int max_val, rs2::sensor sensor, int* option_value); + void registerAutoExposureROIOptions(ros::NodeHandle& nh); + void set_auto_exposure_roi(const std::string option_name, rs2::sensor sensor, int new_value); + void set_sensor_auto_exposure_roi(rs2::sensor sensor); + rs2_stream rs2_string_to_stream(std::string str); + void startMonitoring(); + void publish_temperature(); + void publish_frequency_update(); + void publishServices(); + + rs2::device _dev; + std::map _sensors; + std::map> _sensors_callback; + std::vector> _ddynrec; + + std::string _json_file_path; + std::string _serial_no; + float _depth_scale_meters; + float _clipping_distance; + bool _allow_no_texture_points; + bool _ordered_pc; + + + double _linear_accel_cov; + double _angular_velocity_cov; + bool _hold_back_imu_for_frames; + + std::map _stream_intrinsics; + std::map _width; + std::map _height; + std::map _fps; + std::map _format; + std::map _enable; + std::map _stream_name; + bool _publish_tf; + double _tf_publish_rate; + tf2_ros::StaticTransformBroadcaster _static_tf_broadcaster; + tf2_ros::TransformBroadcaster _dynamic_tf_broadcaster; + std::vector _static_tf_msgs; + std::shared_ptr _tf_t, _update_functions_t; + + std::map _image_publishers; + std::map _imu_publishers; + std::shared_ptr _synced_imu_publisher; + std::map _image_format; + std::map _info_publisher; + std::map> _metadata_publishers; + std::map _image; + std::map _encoding; + + std::map _seq; + std::map _unit_step_size; + std::map _camera_info; + std::atomic_bool _is_initialized_time_base; + double _camera_time_base; + std::map> _enabled_profiles; + + ros::Publisher _pointcloud_publisher; + ros::Time _ros_time_base; + bool _sync_frames; + bool _pointcloud; + bool _publish_odom_tf; + imu_sync_method _imu_sync_method; + std::string _filters_str; + stream_index_pair _pointcloud_texture; + PipelineSyncer _syncer; + std::vector _filters; + std::shared_ptr _colorizer, _pointcloud_filter; + std::vector _dev_sensors; + + std::map _depth_aligned_image; + std::map _depth_scaled_image; + std::map _depth_aligned_encoding; + std::map _depth_aligned_camera_info; + std::map _depth_aligned_seq; + std::map _depth_aligned_info_publisher; + std::map _depth_aligned_image_publishers; + std::map _depth_to_other_extrinsics_publishers; + std::map _depth_to_other_extrinsics; + std::map _auto_exposure_roi; + std::map _is_first_frame; + std::map > > _video_functions_stack; + + typedef std::pair> OptionTemperatureDiag; + std::vector< OptionTemperatureDiag > _temperature_nodes; + std::shared_ptr _monitoring_t; + std::vector > _update_functions_v; + mutable std::condition_variable _cv_monitoring, _cv_tf, _update_functions_cv; + + stream_index_pair _base_stream; + const std::string _namespace; + + sensor_msgs::PointCloud2 _msg_pointcloud; + std::vector< unsigned int > _valid_pc_indices; + };//end class + +} + diff --git a/realsense_utils/realsense2_camera/include/realsense2_camera/constants.h b/realsense_utils/realsense2_camera/include/realsense2_camera/constants.h new file mode 100644 index 00000000..12c3b43d --- /dev/null +++ b/realsense_utils/realsense2_camera/include/realsense2_camera/constants.h @@ -0,0 +1,100 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2018 Intel Corporation. All Rights Reserved + +#pragma once + +#include + +#define REALSENSE_ROS_MAJOR_VERSION 2 +#define REALSENSE_ROS_MINOR_VERSION 3 +#define REALSENSE_ROS_PATCH_VERSION 2 + +#define STRINGIFY(arg) #arg +#define VAR_ARG_STRING(arg) STRINGIFY(arg) +/* Return version in "X.Y.Z" format */ +#define REALSENSE_ROS_VERSION_STR (VAR_ARG_STRING(REALSENSE_ROS_MAJOR_VERSION.REALSENSE_ROS_MINOR_VERSION.REALSENSE_ROS_PATCH_VERSION)) + +namespace realsense2_camera +{ + const uint16_t SR300_PID = 0x0aa5; // SR300 + const uint16_t SR300v2_PID = 0x0B48; // SR305 + const uint16_t RS400_PID = 0x0ad1; // PSR + const uint16_t RS410_PID = 0x0ad2; // ASR + const uint16_t RS415_PID = 0x0ad3; // ASRC + const uint16_t RS430_PID = 0x0ad4; // AWG + const uint16_t RS430_MM_PID = 0x0ad5; // AWGT + const uint16_t RS_USB2_PID = 0x0ad6; // USB2 + const uint16_t RS420_PID = 0x0af6; // PWG + const uint16_t RS420_MM_PID = 0x0afe; // PWGT + const uint16_t RS410_MM_PID = 0x0aff; // ASR + const uint16_t RS400_MM_PID = 0x0b00; // PSR + const uint16_t RS430_MM_RGB_PID = 0x0b01; // AWGCT + const uint16_t RS460_PID = 0x0b03; // DS5U + const uint16_t RS435_RGB_PID = 0x0b07; // AWGC + const uint16_t RS435i_RGB_PID = 0x0B3A; // AWGC_MM + const uint16_t RS465_PID = 0x0b4d; // D465 + const uint16_t RS416_RGB_PID = 0x0B52; // F416 RGB + const uint16_t RS405_PID = 0x0B5B; // DS5U + const uint16_t RS455_PID = 0x0B5C; // D455 + const uint16_t RS_T265_PID = 0x0b37; // + const uint16_t RS_L515_PID_PRE_PRQ = 0x0B3D; // + const uint16_t RS_L515_PID = 0x0B64; // + const uint16_t RS_L535_PID = 0x0b68; + + + const bool ALIGN_DEPTH = false; + const bool POINTCLOUD = false; + const bool ALLOW_NO_TEXTURE_POINTS = false; + const bool ORDERED_POINTCLOUD = false; + const bool SYNC_FRAMES = false; + + const bool PUBLISH_TF = true; + const double TF_PUBLISH_RATE = 0; // Static transform + + const int IMAGE_WIDTH = 640; + const int IMAGE_HEIGHT = 480; + const int IMAGE_FPS = 30; + + const int IMU_FPS = 0; + + + const bool ENABLE_DEPTH = true; + const bool ENABLE_INFRA1 = true; + const bool ENABLE_INFRA2 = true; + const bool ENABLE_COLOR = true; + const bool ENABLE_FISHEYE = true; + const bool ENABLE_IMU = true; + const bool HOLD_BACK_IMU_FOR_FRAMES = false; + const bool PUBLISH_ODOM_TF = true; + + + const std::string DEFAULT_BASE_FRAME_ID = "camera_link"; + const std::string DEFAULT_ODOM_FRAME_ID = "odom_frame"; + const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame"; + const std::string DEFAULT_INFRA1_FRAME_ID = "camera_infra1_frame"; + const std::string DEFAULT_INFRA2_FRAME_ID = "camera_infra2_frame"; + const std::string DEFAULT_COLOR_FRAME_ID = "camera_color_frame"; + const std::string DEFAULT_FISHEYE_FRAME_ID = "camera_fisheye_frame"; + const std::string DEFAULT_IMU_FRAME_ID = "camera_imu_frame"; + + const std::string DEFAULT_DEPTH_OPTICAL_FRAME_ID = "camera_depth_optical_frame"; + const std::string DEFAULT_INFRA1_OPTICAL_FRAME_ID = "camera_infra1_optical_frame"; + const std::string DEFAULT_INFRA2_OPTICAL_FRAME_ID = "camera_infra2_optical_frame"; + const std::string DEFAULT_COLOR_OPTICAL_FRAME_ID = "camera_color_optical_frame"; + const std::string DEFAULT_FISHEYE_OPTICAL_FRAME_ID = "camera_fisheye_optical_frame"; + const std::string DEFAULT_ACCEL_OPTICAL_FRAME_ID = "camera_accel_optical_frame"; + const std::string DEFAULT_GYRO_OPTICAL_FRAME_ID = "camera_gyro_optical_frame"; + const std::string DEFAULT_IMU_OPTICAL_FRAME_ID = "camera_imu_optical_frame"; + + const std::string DEFAULT_ALIGNED_DEPTH_TO_COLOR_FRAME_ID = "camera_aligned_depth_to_color_frame"; + const std::string DEFAULT_ALIGNED_DEPTH_TO_INFRA1_FRAME_ID = "camera_aligned_depth_to_infra1_frame"; + const std::string DEFAULT_ALIGNED_DEPTH_TO_INFRA2_FRAME_ID = "camera_aligned_depth_to_infra2_frame"; + const std::string DEFAULT_ALIGNED_DEPTH_TO_FISHEYE_FRAME_ID = "camera_aligned_depth_to_fisheye_frame"; + + const std::string DEFAULT_UNITE_IMU_METHOD = ""; + const std::string DEFAULT_FILTERS = ""; + const std::string DEFAULT_TOPIC_ODOM_IN = ""; + + const float ROS_DEPTH_SCALE = 0.001; + using stream_index_pair = std::pair; +} // namespace realsense2_camera diff --git a/realsense_utils/realsense2_camera/include/realsense2_camera/realsense_node_factory.h b/realsense_utils/realsense2_camera/include/realsense2_camera/realsense_node_factory.h new file mode 100644 index 00000000..2fc66646 --- /dev/null +++ b/realsense_utils/realsense2_camera/include/realsense2_camera/realsense_node_factory.h @@ -0,0 +1,90 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2018 Intel Corporation. All Rights Reserved + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace realsense2_camera +{ + const stream_index_pair COLOR{RS2_STREAM_COLOR, 0}; + const stream_index_pair DEPTH{RS2_STREAM_DEPTH, 0}; + const stream_index_pair INFRA0{RS2_STREAM_INFRARED, 0}; + const stream_index_pair INFRA1{RS2_STREAM_INFRARED, 1}; + const stream_index_pair INFRA2{RS2_STREAM_INFRARED, 2}; + const stream_index_pair FISHEYE{RS2_STREAM_FISHEYE, 0}; + const stream_index_pair FISHEYE1{RS2_STREAM_FISHEYE, 1}; + const stream_index_pair FISHEYE2{RS2_STREAM_FISHEYE, 2}; + const stream_index_pair GYRO{RS2_STREAM_GYRO, 0}; + const stream_index_pair ACCEL{RS2_STREAM_ACCEL, 0}; + const stream_index_pair POSE{RS2_STREAM_POSE, 0}; + const stream_index_pair CONFIDENCE{RS2_STREAM_CONFIDENCE, 0}; + + const std::vector IMAGE_STREAMS = {DEPTH, INFRA0, INFRA1, INFRA2, + COLOR, + FISHEYE, + FISHEYE1, FISHEYE2, CONFIDENCE}; + + const std::vector HID_STREAMS = {GYRO, ACCEL, POSE}; + + class InterfaceRealSenseNode + { + public: + virtual void publishTopics() = 0; + virtual void toggleSensors(bool enabled) = 0; + virtual void registerDynamicReconfigCb(ros::NodeHandle& nh) = 0; + virtual ~InterfaceRealSenseNode() = default; + }; + + class RealSenseNodeFactory : public nodelet::Nodelet + { + public: + RealSenseNodeFactory(); + virtual ~RealSenseNodeFactory(); + + private: + void closeDevice(); + void StartDevice(); + void change_device_callback(rs2::event_information& info); + void getDevice(rs2::device_list list); + virtual void onInit() override; + void initialize(const ros::WallTimerEvent &ignored); + void tryGetLogSeverity(rs2_log_severity& severity) const; + void reset(); + bool handleReset(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response); + static std::string parse_usb_port(std::string line); + bool toggle_sensor_callback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res); + + rs2::device _device; + std::shared_ptr _realSenseNode; + rs2::context _ctx; + std::string _serial_no; + std::string _usb_port_id; + std::string _device_type; + bool _initial_reset; + std::thread _query_thread; + bool _is_alive; + ros::ServiceServer toggle_sensor_srv; + ros::WallTimer _init_timer; + ros::ServiceServer _reset_srv; + + }; +}//end namespace diff --git a/realsense_utils/realsense2_camera/include/realsense2_camera/t265_realsense_node.h b/realsense_utils/realsense2_camera/include/realsense2_camera/t265_realsense_node.h new file mode 100644 index 00000000..543d8584 --- /dev/null +++ b/realsense_utils/realsense2_camera/include/realsense2_camera/t265_realsense_node.h @@ -0,0 +1,33 @@ +#pragma once + +#include + +namespace realsense2_camera +{ + class T265RealsenseNode : public BaseRealSenseNode + { + public: + T265RealsenseNode(ros::NodeHandle& nodeHandle, + ros::NodeHandle& privateNodeHandle, + rs2::device dev, + const std::string& serial_no); + virtual void toggleSensors(bool enabled) override; + virtual void publishTopics() override; + + protected: + void calcAndPublishStaticTransform(const stream_index_pair& stream, const rs2::stream_profile& base_profile) override; + + private: + void initializeOdometryInput(); + void setupSubscribers(); + void handleWarning(); + void odom_in_callback(const nav_msgs::Odometry::ConstPtr& msg); + void warningDiagnostic (diagnostic_updater::DiagnosticStatusWrapper &stat); + diagnostic_updater::Updater callback_updater; + + ros::Subscriber _odom_subscriber; + rs2::wheel_odometer _wo_snr; + bool _use_odom_in; + std::string _T265_fault; + }; +} diff --git a/realsense_utils/realsense2_camera/launch/demo_pointcloud.launch b/realsense_utils/realsense2_camera/launch/demo_pointcloud.launch new file mode 100644 index 00000000..18084c99 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/demo_pointcloud.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/demo_t265.launch b/realsense_utils/realsense2_camera/launch/demo_t265.launch new file mode 100644 index 00000000..aa8ce480 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/demo_t265.launch @@ -0,0 +1,4 @@ + + + + diff --git a/realsense_utils/realsense2_camera/launch/includes/nodelet.launch.xml b/realsense_utils/realsense2_camera/launch/includes/nodelet.launch.xml new file mode 100644 index 00000000..8452b425 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/includes/nodelet.launch.xml @@ -0,0 +1,218 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/includes/nodelet1.launch.xml b/realsense_utils/realsense2_camera/launch/includes/nodelet1.launch.xml new file mode 100644 index 00000000..50709bf0 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/includes/nodelet1.launch.xml @@ -0,0 +1,218 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/opensource_tracking.launch b/realsense_utils/realsense2_camera/launch/opensource_tracking.launch new file mode 100644 index 00000000..5cc35651 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/opensource_tracking.launch @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [true,true,true, + true,true,true, + true,true,true, + true,true,true, + true,true,true] + + + + + + + [false, false, false, + true, true, true, + true, true, true, + true, true, true, + true, true, true] + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/rs_aligned_depth.launch b/realsense_utils/realsense2_camera/launch/rs_aligned_depth.launch new file mode 100644 index 00000000..fa542350 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/rs_aligned_depth.launch @@ -0,0 +1,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/rs_camera.launch b/realsense_utils/realsense2_camera/launch/rs_camera.launch new file mode 100644 index 00000000..1545082e --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/rs_camera.launch @@ -0,0 +1,150 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/rs_d400_and_t265.launch b/realsense_utils/realsense2_camera/launch/rs_d400_and_t265.launch new file mode 100644 index 00000000..3400d2e5 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/rs_d400_and_t265.launch @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/rs_d435_camera_with_model.launch b/realsense_utils/realsense2_camera/launch/rs_d435_camera_with_model.launch new file mode 100644 index 00000000..2c20de72 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/rs_d435_camera_with_model.launch @@ -0,0 +1,111 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/rs_from_file.launch b/realsense_utils/realsense2_camera/launch/rs_from_file.launch new file mode 100644 index 00000000..c428e529 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/rs_from_file.launch @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/rs_multiple_devices.launch b/realsense_utils/realsense2_camera/launch/rs_multiple_devices.launch new file mode 100644 index 00000000..84414edb --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/rs_multiple_devices.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/rs_rgbd.launch b/realsense_utils/realsense2_camera/launch/rs_rgbd.launch new file mode 100644 index 00000000..94e97670 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/rs_rgbd.launch @@ -0,0 +1,205 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/rs_rtabmap.launch b/realsense_utils/realsense2_camera/launch/rs_rtabmap.launch new file mode 100644 index 00000000..8fec0424 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/rs_rtabmap.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/launch/rs_t265.launch b/realsense_utils/realsense2_camera/launch/rs_t265.launch new file mode 100644 index 00000000..1a11aed7 --- /dev/null +++ b/realsense_utils/realsense2_camera/launch/rs_t265.launch @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_camera/librealsense2_bionic.rdmanifest b/realsense_utils/realsense2_camera/librealsense2_bionic.rdmanifest new file mode 100644 index 00000000..092c454a --- /dev/null +++ b/realsense_utils/realsense2_camera/librealsense2_bionic.rdmanifest @@ -0,0 +1,37 @@ +uri: 'https://raw.githubusercontent.com/magazino/pylon_camera/indigo-devel/rosdep/empty.tar' +check-presence-script: | + #!/bin/bash + + if [ $(dpkg-query -W -f='${Status}' librealsense2-dkms 2>/dev/null | grep -c "ok installed") -eq 0 ]; + then + exit 1 + else + exit 0 + fi + + +install-script: | + #!/bin/bash + + # Install + if [[ "$EUID" -ne 0 ]]; then + # Install add-apt-repository + sudo apt-get install -y software-properties-common + # Register the server's public key + sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE + # Add the server to the list of repositories + sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u + # Install the libraries + sudo apt-get install -y librealsense2-dkms librealsense2-dev + else + # Install add-apt-repository + apt-get install -y software-properties-common + # Register the server's public key + apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE + # Add the server to the list of repositories + add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u + # Install the libraries + apt-get install -y librealsense2-dkms librealsense2-dev + fi + + exit $? \ No newline at end of file diff --git a/realsense_utils/realsense2_camera/librealsense2_xenial.rdmanifest b/realsense_utils/realsense2_camera/librealsense2_xenial.rdmanifest new file mode 100644 index 00000000..68f12989 --- /dev/null +++ b/realsense_utils/realsense2_camera/librealsense2_xenial.rdmanifest @@ -0,0 +1,37 @@ +uri: 'https://raw.githubusercontent.com/magazino/pylon_camera/indigo-devel/rosdep/empty.tar' +check-presence-script: | + #!/bin/bash + + if [ $(dpkg-query -W -f='${Status}' librealsense2-dkms 2>/dev/null | grep -c "ok installed") -eq 0 ]; + then + exit 1 + else + exit 0 + fi + + +install-script: | + #!/bin/bash + + # Install + if [[ "$EUID" -ne 0 ]]; then + # Install add-apt-repository + sudo apt-get install -y software-properties-common + # Register the server's public key + sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE + # Add the server to the list of repositories + sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u + # Install the libraries + sudo apt-get install -y librealsense2-dkms librealsense2-dev + else + # Install add-apt-repository + apt-get install -y software-properties-common + # Register the server's public key + apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE + # Add the server to the list of repositories + add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u + # Install the libraries + apt-get install -y librealsense2-dkms librealsense2-dev + fi + + exit $? \ No newline at end of file diff --git a/realsense_utils/realsense2_camera/msg/Extrinsics.msg b/realsense_utils/realsense2_camera/msg/Extrinsics.msg new file mode 100644 index 00000000..6482a0e9 --- /dev/null +++ b/realsense_utils/realsense2_camera/msg/Extrinsics.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +float64[9] rotation +float64[3] translation diff --git a/realsense_utils/realsense2_camera/msg/IMUInfo.msg b/realsense_utils/realsense2_camera/msg/IMUInfo.msg new file mode 100644 index 00000000..85e103d2 --- /dev/null +++ b/realsense_utils/realsense2_camera/msg/IMUInfo.msg @@ -0,0 +1,4 @@ +string frame_id +float64[12] data +float64[3] noise_variances +float64[3] bias_variances diff --git a/realsense_utils/realsense2_camera/msg/Metadata.msg b/realsense_utils/realsense2_camera/msg/Metadata.msg new file mode 100644 index 00000000..d837c3b9 --- /dev/null +++ b/realsense_utils/realsense2_camera/msg/Metadata.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +string json_data \ No newline at end of file diff --git a/realsense_utils/realsense2_camera/nodelet_plugins.xml b/realsense_utils/realsense2_camera/nodelet_plugins.xml new file mode 100644 index 00000000..838d23a5 --- /dev/null +++ b/realsense_utils/realsense2_camera/nodelet_plugins.xml @@ -0,0 +1,7 @@ + + + + Example camera nodelet using the Intel RealSense SDK 2.0 library for Intel RealSense SR300 and D400 cameras + + + diff --git a/realsense_utils/realsense2_camera/package.xml b/realsense_utils/realsense2_camera/package.xml new file mode 100644 index 00000000..c67e72cb --- /dev/null +++ b/realsense_utils/realsense2_camera/package.xml @@ -0,0 +1,34 @@ + + + realsense2_camera + 2.3.2 + RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras + Doron Hirshberg + Apache 2.0 + + http://www.ros.org/wiki/RealSense + https://github.com/intel-ros/realsense/issues + + Sergey Dorodnicov + Doron Hirshberg + catkin + message_generation + eigen + image_transport + cv_bridge + image_geometry + nav_msgs + nodelet + genmsg + roscpp + sensor_msgs + std_msgs + std_srvs + message_runtime + tf + ddynamic_reconfigure + diagnostic_updater + + + + diff --git a/realsense_utils/realsense2_camera/package.xml.orig b/realsense_utils/realsense2_camera/package.xml.orig new file mode 100644 index 00000000..c67e72cb --- /dev/null +++ b/realsense_utils/realsense2_camera/package.xml.orig @@ -0,0 +1,34 @@ + + + realsense2_camera + 2.3.2 + RealSense Camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras + Doron Hirshberg + Apache 2.0 + + http://www.ros.org/wiki/RealSense + https://github.com/intel-ros/realsense/issues + + Sergey Dorodnicov + Doron Hirshberg + catkin + message_generation + eigen + image_transport + cv_bridge + image_geometry + nav_msgs + nodelet + genmsg + roscpp + sensor_msgs + std_msgs + std_srvs + message_runtime + tf + ddynamic_reconfigure + diagnostic_updater + + + + diff --git a/realsense_utils/realsense2_camera/package.xml.rej b/realsense_utils/realsense2_camera/package.xml.rej new file mode 100644 index 00000000..15a5f993 --- /dev/null +++ b/realsense_utils/realsense2_camera/package.xml.rej @@ -0,0 +1,10 @@ +--- realsense2_camera/package.xml ++++ realsense2_camera/package.xml +@@ -25,7 +25,6 @@ + tf + ddynamic_reconfigure + diagnostic_updater +- librealsense2 + + + diff --git a/realsense_utils/realsense2_camera/rviz/pointcloud.rviz b/realsense_utils/realsense2_camera/rviz/pointcloud.rviz new file mode 100644 index 00000000..86ff8865 --- /dev/null +++ b/realsense_utils/realsense2_camera/rviz/pointcloud.rviz @@ -0,0 +1,140 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 747 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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 + 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: RGB8 + 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): 0.00999999978 + Style: Flat Squares + Topic: /camera/depth/color/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: camera_link + 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/ThirdPersonFollower + Distance: 6.36999989 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.085398294 + Target Frame: + Value: ThirdPersonFollower (rviz) + Yaw: 3.01539803 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1579 + X: 156 + Y: 48 diff --git a/realsense_utils/realsense2_camera/rviz/t265.rviz b/realsense_utils/realsense2_camera/rviz/t265.rviz new file mode 100644 index 00000000..2dfe2295 --- /dev/null +++ b/realsense_utils/realsense2_camera/rviz/t265.rviz @@ -0,0 +1,212 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Odometry1 + - /Odometry1/Shape1 + - /Axes1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.740634024 + Tree Height: 568 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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 + - Angle Tolerance: 0.100000001 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.300000012 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 1 + Name: Odometry + Position Tolerance: 0.100000001 + Shape: + Alpha: 1 + Axes Length: 0.300000012 + Axes Radius: 0.0299999993 + Color: 255; 25; 0 + Head Length: 0.300000012 + Head Radius: 0.100000001 + Shaft Length: 1 + Shaft Radius: 0.0500000007 + Value: Axes + Topic: /camera/odom/sample + Unreliable: false + Value: true + - Class: rviz/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.00999999978 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: false + camera_accel_frame: + Value: false + camera_accel_optical_frame: + Value: false + camera_fisheye1_frame: + Value: false + camera_fisheye1_optical_frame: + Value: false + camera_fisheye2_frame: + Value: false + camera_fisheye2_optical_frame: + Value: false + camera_gyro_frame: + Value: false + camera_gyro_optical_frame: + Value: false + camera_link: + Value: true + camera_pose_frame: + Value: false + camera_pose_optical_frame: + Value: false + camera_odom_frame: + Value: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + camera_odom_frame: + camera_pose_optical_frame: + camera_pose_frame: + camera_link: + camera_accel_frame: + camera_accel_optical_frame: + {} + camera_fisheye1_frame: + camera_fisheye1_optical_frame: + {} + camera_fisheye2_frame: + camera_fisheye2_optical_frame: + {} + camera_gyro_frame: + camera_gyro_optical_frame: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: camera_odom_frame + 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: 1.40621364 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.315398008 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.69856501 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 849 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1520 + X: 65 + Y: 24 diff --git a/realsense_utils/realsense2_camera/scripts/echo_metadada.py b/realsense_utils/realsense2_camera/scripts/echo_metadada.py new file mode 100644 index 00000000..1b0c31b6 --- /dev/null +++ b/realsense_utils/realsense2_camera/scripts/echo_metadada.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python +import os +import sys +import rospy +from realsense2_camera.msg import Metadata +import json + +def metadata_cb(msg): + aa = json.loads(msg.json_data) + os.system('clear') + print('header:', msg.header) + print('\n'.join(['%10s:%-10s' % (key, str(value)) for key, value in aa.items()])) + +def main(): + if len(sys.argv) < 2 or '--help' in sys.argv or '/?' in sys.argv: + print ('USAGE:') + print('echo_metadata.py ') + print('Demo for listening on given metadata topic.') + print('App subscribes on given topic') + print('App then prints metadata from messages') + print('') + print('Example: echo_metadata.py /camera/depth/metadata') + print('') + exit(-1) + + topic = sys.argv[1] + + rospy.init_node('metadata_tester', anonymous=True) + + depth_sub = rospy.Subscriber(topic, Metadata, metadata_cb) + + rospy.spin() + +if __name__ == '__main__': + main() diff --git a/realsense_utils/realsense2_camera/scripts/rs2_listener.py b/realsense_utils/realsense2_camera/scripts/rs2_listener.py new file mode 100644 index 00000000..3ac35723 --- /dev/null +++ b/realsense_utils/realsense2_camera/scripts/rs2_listener.py @@ -0,0 +1,293 @@ +import sys +import time +import rospy +from sensor_msgs.msg import Image as msg_Image +from sensor_msgs.msg import CompressedImage as msg_CompressedImage +from sensor_msgs.msg import PointCloud2 as msg_PointCloud2 +import sensor_msgs.point_cloud2 as pc2 +from sensor_msgs.msg import Imu as msg_Imu +import numpy as np +from cv_bridge import CvBridge, CvBridgeError +import inspect +import ctypes +import struct +import tf +try: + from theora_image_transport.msg import Packet as msg_theora +except Exception: + pass + + +def pc2_to_xyzrgb(point): + # Thanks to Panos for his code used in this function. + x, y, z = point[:3] + rgb = point[3] + + # cast float32 to int so that bitwise operations are possible + s = struct.pack('>f', rgb) + i = struct.unpack('>l', s)[0] + # you can get back the float value by the inverse operations + pack = ctypes.c_uint32(i).value + r = (pack & 0x00FF0000) >> 16 + g = (pack & 0x0000FF00) >> 8 + b = (pack & 0x000000FF) + return x, y, z, r, g, b + + +class CWaitForMessage: + def __init__(self, params={}): + self.result = None + + self.break_timeout = False + self.timeout = params.get('timeout_secs', -1) * 1e-3 + self.seq = params.get('seq', -1) + self.time = params.get('time', None) + self.node_name = params.get('node_name', 'rs2_listener') + self.bridge = CvBridge() + self.listener = None + self.prev_msg_time = 0 + self.fout = None + + + self.themes = {'depthStream': {'topic': '/camera/depth/image_rect_raw', 'callback': self.imageColorCallback, 'msg_type': msg_Image}, + 'colorStream': {'topic': '/camera/color/image_raw', 'callback': self.imageColorCallback, 'msg_type': msg_Image}, + 'pointscloud': {'topic': '/camera/depth/color/points', 'callback': self.pointscloudCallback, 'msg_type': msg_PointCloud2}, + 'alignedDepthInfra1': {'topic': '/camera/aligned_depth_to_infra1/image_raw', 'callback': self.imageColorCallback, 'msg_type': msg_Image}, + 'alignedDepthColor': {'topic': '/camera/aligned_depth_to_color/image_raw', 'callback': self.imageColorCallback, 'msg_type': msg_Image}, + 'static_tf': {'topic': '/camera/color/image_raw', 'callback': self.imageColorCallback, 'msg_type': msg_Image}, + 'accelStream': {'topic': '/camera/accel/sample', 'callback': self.imuCallback, 'msg_type': msg_Imu}, + } + + self.func_data = dict() + + def imuCallback(self, theme_name): + def _imuCallback(data): + if self.listener is None: + self.listener = tf.TransformListener() + self.prev_time = time.time() + self.func_data[theme_name].setdefault('value', []) + self.func_data[theme_name].setdefault('ros_value', []) + try: + frame_id = data.header.frame_id + value = data.linear_acceleration + + (trans,rot) = self.listener.lookupTransform('/camera_link', frame_id, rospy.Time(0)) + quat = tf.transformations.quaternion_matrix(rot) + point = np.matrix([value.x, value.y, value.z, 1], dtype='float32') + point.resize((4, 1)) + rotated = quat*point + rotated.resize(1,4) + rotated = np.array(rotated)[0][:3] + except Exception as e: + print(e) + return + self.func_data[theme_name]['value'].append(value) + self.func_data[theme_name]['ros_value'].append(rotated) + return _imuCallback + + def imageColorCallback(self, theme_name): + def _imageColorCallback(data): + self.prev_time = time.time() + self.func_data[theme_name].setdefault('avg', []) + self.func_data[theme_name].setdefault('ok_percent', []) + self.func_data[theme_name].setdefault('num_channels', []) + self.func_data[theme_name].setdefault('shape', []) + self.func_data[theme_name].setdefault('reported_size', []) + + try: + cv_image = self.bridge.imgmsg_to_cv2(data, data.encoding) + except CvBridgeError as e: + print(e) + return + channels = cv_image.shape[2] if len(cv_image.shape) > 2 else 1 + pyimg = np.asarray(cv_image) + + ok_number = (pyimg != 0).sum() + + self.func_data[theme_name]['avg'].append(pyimg.sum() / ok_number) + self.func_data[theme_name]['ok_percent'].append(float(ok_number) / (pyimg.shape[0] * pyimg.shape[1]) / channels) + self.func_data[theme_name]['num_channels'].append(channels) + self.func_data[theme_name]['shape'].append(cv_image.shape) + self.func_data[theme_name]['reported_size'].append((data.width, data.height, data.step)) + return _imageColorCallback + + def imageDepthCallback(self, data): + pass + + def pointscloudCallback(self, theme_name): + def _pointscloudCallback(data): + self.prev_time = time.time() + print ('Got pointcloud: %d, %d' % (data.width, data.height)) + + self.func_data[theme_name].setdefault('frame_counter', 0) + self.func_data[theme_name].setdefault('avg', []) + self.func_data[theme_name].setdefault('size', []) + self.func_data[theme_name].setdefault('width', []) + self.func_data[theme_name].setdefault('height', []) + # until parsing pointcloud is done in real time, I'll use only the first frame. + self.func_data[theme_name]['frame_counter'] += 1 + + if self.func_data[theme_name]['frame_counter'] == 1: + # Known issue - 1st pointcloud published has invalid texture. Skip 1st frame. + return + + try: + points = np.array([pc2_to_xyzrgb(pp) for pp in pc2.read_points(data, skip_nans=True, field_names=("x", "y", "z", "rgb")) if pp[0] > 0]) + except Exception as e: + print(e) + return + self.func_data[theme_name]['avg'].append(points.mean(0)) + self.func_data[theme_name]['size'].append(len(points)) + self.func_data[theme_name]['width'].append(data.width) + self.func_data[theme_name]['height'].append(data.height) + return _pointscloudCallback + + def wait_for_message(self, params, msg_type=msg_Image): + topic = params['topic'] + print ('connect to ROS with name: %s' % self.node_name) + rospy.init_node(self.node_name, anonymous=True) + + out_filename = params.get('filename', None) + if (out_filename): + self.fout = open(out_filename, 'w') + if msg_type is msg_Imu: + col_w = 20 + print ('Writing to file: %s' % out_filename) + columns = ['frame_number', 'frame_time(sec)', 'accel.x', 'accel.y', 'accel.z', 'gyro.x', 'gyro.y', 'gyro.z'] + line = ('{:<%d}'*len(columns) % (col_w, col_w, col_w, col_w, col_w, col_w, col_w, col_w)).format(*columns) + '\n' + sys.stdout.write(line) + self.fout.write(line) + + rospy.loginfo('Subscribing on topic: %s' % topic) + self.sub = rospy.Subscriber(topic, msg_type, self.callback) + + self.prev_time = time.time() + break_timeout = False + while not any([rospy.core.is_shutdown(), break_timeout, self.result]): + rospy.rostime.wallsleep(0.5) + if self.timeout > 0 and time.time() - self.prev_time > self.timeout: + break_timeout = True + self.sub.unregister() + + return self.result + + @staticmethod + def unregister_all(registers): + for test_name in registers: + rospy.loginfo('Un-Subscribing test %s' % test_name) + registers[test_name]['sub'].unregister() + + def wait_for_messages(self, themes): + # tests_params = {: {'callback', 'topic', 'msg_type', 'internal_params'}} + self.func_data = dict([[theme_name, {}] for theme_name in themes]) + + print ('connect to ROS with name: %s' % self.node_name) + rospy.init_node(self.node_name, anonymous=True) + for theme_name in themes: + theme = self.themes[theme_name] + rospy.loginfo('Subscribing %s on topic: %s' % (theme_name, theme['topic'])) + self.func_data[theme_name]['sub'] = rospy.Subscriber(theme['topic'], theme['msg_type'], theme['callback'](theme_name)) + + self.prev_time = time.time() + break_timeout = False + while not any([rospy.core.is_shutdown(), break_timeout]): + rospy.rostime.wallsleep(0.5) + if self.timeout > 0 and time.time() - self.prev_time > self.timeout: + break_timeout = True + self.unregister_all(self.func_data) + + return self.func_data + + def callback(self, data): + msg_time = data.header.stamp.secs + 1e-9 * data.header.stamp.nsecs + + if (self.prev_msg_time > msg_time): + rospy.loginfo('Out of order: %.9f > %.9f' % (self.prev_msg_time, msg_time)) + if type(data) == msg_Imu: + col_w = 20 + frame_number = data.header.seq + accel = data.linear_acceleration + gyro = data.angular_velocity + line = ('\n{:<%d}{:<%d.6f}{:<%d.4f}{:<%d.4f}{:<%d.4f}{:<%d.4f}{:<%d.4f}{:<%d.4f}' % (col_w, col_w, col_w, col_w, col_w, col_w, col_w, col_w)).format(frame_number, msg_time, accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z) + sys.stdout.write(line) + if self.fout: + self.fout.write(line) + + self.prev_msg_time = msg_time + self.prev_msg_data = data + + self.prev_time = time.time() + if any([self.seq < 0 and self.time is None, + self.seq > 0 and data.header.seq >= self.seq, + self.time and data.header.stamp.secs == self.time['secs'] and data.header.stamp.nsecs == self.time['nsecs']]): + self.result = data + self.sub.unregister() + + + +def main(): + if len(sys.argv) < 2 or '--help' in sys.argv or '/?' in sys.argv: + print ('USAGE:') + print ('------') + print ('rs2_listener.py [Options]') + print ('example: rs2_listener.py /camera/color/image_raw --time 1532423022.044515610 --timeout 3') + print ('example: rs2_listener.py pointscloud') + print ('') + print ('Application subscribes on , wait for the first message matching [Options].') + print ('When found, prints the timestamp.') + print + print ('[Options:]') + print ('-s ') + print ('--time ') + print ('--timeout ') + print ('--filename : write output to file') + exit(-1) + + # wanted_topic = '/device_0/sensor_0/Depth_0/image/data' + # wanted_seq = 58250 + + wanted_topic = sys.argv[1] + msg_params = {} + if 'points' in wanted_topic: + msg_type = msg_PointCloud2 + elif ('imu' in wanted_topic) or ('gyro' in wanted_topic) or ('accel' in wanted_topic): + msg_type = msg_Imu + elif 'theora' in wanted_topic: + try: + msg_type = msg_theora + except NameError as e: + print ('theora_image_transport is not installed. \nType "sudo apt-get install ros-kinetic-theora-image-transport" to enable registering on messages of type theora.') + raise + elif 'compressed' in wanted_topic: + msg_type = msg_CompressedImage + else: + msg_type = msg_Image + + for idx in range(2, len(sys.argv)): + if sys.argv[idx] == '-s': + msg_params['seq'] = int(sys.argv[idx + 1]) + if sys.argv[idx] == '--time': + msg_params['time'] = dict(zip(['secs', 'nsecs'], [int(part) for part in sys.argv[idx + 1].split('.')])) + if sys.argv[idx] == '--timeout': + msg_params['timeout_secs'] = int(sys.argv[idx + 1]) + if sys.argv[idx] == '--filename': + msg_params['filename'] = sys.argv[idx+1] + + msg_retriever = CWaitForMessage(msg_params) + if '/' in wanted_topic: + msg_params.setdefault('topic', wanted_topic) + res = msg_retriever.wait_for_message(msg_params, msg_type) + rospy.loginfo('Got message: %s' % res.header) + if (hasattr(res, 'encoding')): + print ('res.encoding:', res.encoding) + if (hasattr(res, 'format')): + print ('res.format:', res.format) + else: + themes = [wanted_topic] + res = msg_retriever.wait_for_messages(themes) + print (res) + + +if __name__ == '__main__': + main() + diff --git a/realsense_utils/realsense2_camera/scripts/rs2_test.py b/realsense_utils/realsense2_camera/scripts/rs2_test.py new file mode 100644 index 00000000..9498bd8c --- /dev/null +++ b/realsense_utils/realsense2_camera/scripts/rs2_test.py @@ -0,0 +1,385 @@ +import os +import sys +from rs2_listener import CWaitForMessage + +import rosbag +from cv_bridge import CvBridge, CvBridgeError +import numpy as np +import tf +import itertools +import subprocess +import rospy +import time +import rosservice + +global tf_timeout +tf_timeout = 5 + +def ImuGetData(rec_filename, topic): + # res['value'] = first value of topic. + # res['max_diff'] = max difference between returned value and all other values of topic in recording. + + bag = rosbag.Bag(rec_filename) + res = dict() + res['value'] = None + res['max_diff'] = [0,0,0] + for topic, msg, t in bag.read_messages(topics=topic): + value = np.array([msg.linear_acceleration.x, msg.linear_acceleration.y, msg.linear_acceleration.z]) + if res['value'] is None: + res['value'] = value + else: + diff = abs(value - res['value']) + res['max_diff'] = [max(diff[x], res['max_diff'][x]) for x in range(len(diff))] + res['max_diff'] = np.array(res['max_diff']) + return res + +def AccelGetData(rec_filename): + return ImuGetData(rec_filename, '/device_0/sensor_2/Accel_0/imu/data') + +def AccelGetDataDeviceStandStraight(rec_filename): + gt_data = AccelGetData(rec_filename) + gt_data['ros_value'] = np.array([0.63839424, 0.05380408, 9.85343552]) + gt_data['ros_max_diff'] = np.array([1.97013582e-02, 4.65862500e-09, 4.06165277e-02]) + return gt_data + +def ImuTest(data, gt_data): + # check that the imu data received is the same as in the recording. + # check that in the rotated imu received the g-accelartation is pointing up according to ROS standards. + try: + v_data = np.array([data['value'][0].x, data['value'][0].y, data['value'][0].z]) + v_gt_data = gt_data['value'] + diff = v_data - v_gt_data + max_diff = abs(diff).max() + msg = 'original accel: Expect max diff of %.3f. Got %.3f.' % (gt_data['max_diff'].max(), max_diff) + print (msg) + if max_diff > gt_data['max_diff'].max(): + return False, msg + + v_data = data['ros_value'][0] + v_gt_data = gt_data['ros_value'] + diff = v_data - v_gt_data + max_diff = abs(diff).max() + msg = 'rotated to ROS: Expect max diff of %.3f. Got %.3f.' % (gt_data['ros_max_diff'].max(), max_diff) + print (msg) + if max_diff > gt_data['ros_max_diff'].max(): + return False, msg + except Exception as e: + msg = '%s' % e + print ('Test Failed: %s' % msg) + return False, msg + return True, '' + +def ImageGetData(rec_filename, topic): + bag = rosbag.Bag(rec_filename) + bridge = CvBridge() + all_avg = [] + ok_percent = [] + res = dict() + + for topic, msg, t in bag.read_messages(topics=topic): + try: + cv_image = bridge.imgmsg_to_cv2(msg, msg.encoding) + except CvBridgeError as e: + print(e) + continue + pyimg = np.asarray(cv_image) + ok_number = (pyimg != 0).sum() + ok_percent.append(float(ok_number) / (pyimg.shape[0] * pyimg.shape[1])) + all_avg.append(pyimg.sum() / ok_number) + + all_avg = np.array(all_avg) + channels = cv_image.shape[2] if len(cv_image.shape) > 2 else 1 + res['num_channels'] = channels + res['shape'] = cv_image.shape + res['avg'] = all_avg.mean() + res['ok_percent'] = {'value': (np.array(ok_percent).mean()) / channels, 'epsilon': 0.01} + res['epsilon'] = max(all_avg.max() - res['avg'], res['avg'] - all_avg.min()) + res['reported_size'] = [msg.width, msg.height, msg.step] + + return res + + +def ImageColorGetData(rec_filename): + return ImageGetData(rec_filename, '/device_0/sensor_1/Color_0/image/data') + + +def ImageDepthGetData(rec_filename): + return ImageGetData(rec_filename, '/device_0/sensor_0/Depth_0/image/data') + + +def ImageDepthInColorShapeGetData(rec_filename): + gt_data = ImageDepthGetData(rec_filename) + color_data = ImageColorGetData(rec_filename) + gt_data['shape'] = color_data['shape'][:2] + gt_data['reported_size'] = color_data['reported_size'] + gt_data['reported_size'][2] = gt_data['reported_size'][0]*2 + gt_data['ok_percent']['epsilon'] *= 3 + return gt_data + +def ImageDepthGetData_decimation(rec_filename): + gt_data = ImageDepthGetData(rec_filename) + gt_data['shape'] = [x/2 for x in gt_data['shape']] + gt_data['reported_size'] = [x/2 for x in gt_data['reported_size']] + gt_data['epsilon'] *= 3 + return gt_data + +def ImageColorTest(data, gt_data): + # check that all data['num_channels'] are the same as gt_data['num_channels'] and that avg value of all + # images are within epsilon of gt_data['avg'] + try: + channels = list(set(data['num_channels'])) + msg = 'Expect %d channels. Got %d channels.' % (gt_data['num_channels'], channels[0]) + print (msg) + if len(channels) > 1 or channels[0] != gt_data['num_channels']: + return False, msg + msg = 'Expected all received images to be the same shape. Got %s' % str(set(data['shape'])) + print (msg) + if len(set(data['shape'])) > 1: + return False, msg + msg = 'Expected shape to be %s. Got %s' % (gt_data['shape'], list(set(data['shape']))[0]) + print (msg) + if (np.array(list(set(data['shape']))[0]) != np.array(gt_data['shape'])).any(): + return False, msg + msg = 'Expected header [width, height, step] to be %s. Got %s' % (gt_data['reported_size'], list(set(data['reported_size']))[0]) + print (msg) + if (np.array(list(set(data['reported_size']))[0]) != np.array(gt_data['reported_size'])).any(): + return False, msg + msg = 'Expect average of %.3f (+-%.3f). Got average of %.3f.' % (gt_data['avg'].mean(), gt_data['epsilon'], np.array(data['avg']).mean()) + print (msg) + if abs(np.array(data['avg']).mean() - gt_data['avg'].mean()) > gt_data['epsilon']: + return False, msg + + msg = 'Expect no holes percent > %.3f. Got %.3f.' % (gt_data['ok_percent']['value']-gt_data['ok_percent']['epsilon'], np.array(data['ok_percent']).mean()) + print (msg) + if np.array(data['ok_percent']).mean() < gt_data['ok_percent']['value']-gt_data['ok_percent']['epsilon']: + return False, msg + + except Exception as e: + msg = '%s' % e + print ('Test Failed: %s' % msg) + return False, msg + return True, '' + + +def ImageColorTest_3epsilon(data, gt_data): + gt_data['epsilon'] *= 3 + return ImageColorTest(data, gt_data) + +def NotImageColorTest(data, gt_data): + res = ImageColorTest(data, gt_data) + return (not res[0], res[1]) + +def PointCloudTest(data, gt_data): + width = np.array(data['width']).mean() + height = np.array(data['height']).mean() + msg = 'Expect image size %d(+-%d), %d. Got %d, %d.' % (gt_data['width'][0], gt_data['width'][1], gt_data['height'][0], width, height) + print (msg) + if abs(width - gt_data['width'][0]) > gt_data['width'][1] or height != gt_data['height'][0]: + return False, msg + mean_pos = np.array([xx[:3] for xx in data['avg']]).mean(0) + msg = 'Expect average position of %s (+-%.3f). Got average of %s.' % (gt_data['avg'][0][:3], gt_data['epsilon'][0], mean_pos) + print (msg) + if abs(mean_pos - gt_data['avg'][0][:3]).max() > gt_data['epsilon'][0]: + return False, msg + mean_col = np.array([xx[3:] for xx in data['avg']]).mean(0) + msg = 'Expect average color of %s (+-%.3f). Got average of %s.' % (gt_data['avg'][0][3:], gt_data['epsilon'][1], mean_col) + print (msg) + if abs(mean_col - gt_data['avg'][0][3:]).max() > gt_data['epsilon'][1]: + return False, msg + + return True, '' + + +def staticTFTest(data, gt_data): + for couple in gt_data.keys(): + if data[couple] is None: + msg = 'Tf is None for couple %s' % '->'.join(couple) + return False, msg + if any(abs((np.array(data[couple][0]) - np.array(gt_data[couple][0]))) > 1e-5) or \ + any(abs((np.array(data[couple][1]) - np.array(gt_data[couple][1]))) > 1e-5): + msg = 'Tf is changed for couple %s' % '->'.join(couple) + return False, msg + return True, '' + +test_types = {'vis_avg': {'listener_theme': 'colorStream', + 'data_func': ImageColorGetData, + 'test_func': ImageColorTest}, + 'depth_avg': {'listener_theme': 'depthStream', + 'data_func': ImageDepthGetData, + 'test_func': ImageColorTest}, + 'no_file': {'listener_theme': 'colorStream', + 'data_func': lambda x: None, + 'test_func': NotImageColorTest}, + 'pointscloud_avg': {'listener_theme': 'pointscloud', + 'data_func': lambda x: {'width': [660353, 2300], 'height': [1], 'avg': [np.array([ 1.28251814, -0.15839984, 4.82235184, 80, 160, 240])], 'epsilon': [0.04, 5]}, + 'test_func': PointCloudTest}, + 'align_depth_ir1': {'listener_theme': 'alignedDepthInfra1', + 'data_func': ImageDepthGetData, + 'test_func': ImageColorTest}, + 'align_depth_color': {'listener_theme': 'alignedDepthColor', + 'data_func': ImageDepthInColorShapeGetData, + 'test_func': ImageColorTest_3epsilon}, + 'depth_avg_decimation': {'listener_theme': 'depthStream', + 'data_func': ImageDepthGetData_decimation, + 'test_func': ImageColorTest}, + 'align_depth_ir1_decimation': {'listener_theme': 'alignedDepthInfra1', + 'data_func': ImageDepthGetData, + 'test_func': ImageColorTest}, + 'static_tf': {'listener_theme': 'static_tf', + 'data_func': lambda x: {('camera_link', 'camera_color_frame'): ([-0.00010158783697988838, 0.014841210097074509, -0.00022671300393994898], [-0.0008337442995980382, 0.0010442184284329414, -0.0009920650627464056, 0.9999986290931702]), + ('camera_link', 'camera_depth_frame'): ([0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]), + ('camera_link', 'camera_infra1_frame'): ([0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]), + ('camera_depth_frame', 'camera_infra1_frame'): ([0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]), + ('camera_depth_frame', 'camera_color_frame'): ([-0.00010158783697988838, 0.014841210097074509, -0.00022671300393994898], [-0.0008337442995980382, 0.0010442184284329414, -0.0009920650627464056, 0.9999986290931702]), + ('camera_infra1_frame', 'camera_color_frame'): ([-0.00010158783697988838, 0.014841210097074509, -0.00022671300393994898], [-0.0008337442995980382, 0.0010442184284329414, -0.0009920650627464056, 0.9999986290931702])} + , + 'test_func': staticTFTest}, + 'accel_up': {'listener_theme': 'accelStream', + 'data_func': AccelGetDataDeviceStandStraight, + 'test_func': ImuTest}, + } + + +def run_test(test, listener_res): + # gather ground truth with test_types[test['type']]['data_func'] and recording from test['rosbag_filename'] + # return results from test_types[test['type']]['test_func'] + test_type = test_types[test['type']] + gt_data = test_type['data_func'](test['params']['rosbag_filename']) + return test_type['test_func'](listener_res[test_type['listener_theme']], gt_data) + + +def print_results(results): + title = 'TEST RESULTS' + headers = ['index', 'test name', 'score', 'message'] + col_0_width = len(headers[0]) + 1 + col_1_width = max([len(headers[1])] + [len(test[0]) for test in results]) + 1 + col_2_width = max([len(headers[2]), len('OK'), len('FAILED')]) + 1 + col_3_width = max([len(headers[3])] + [len(test[1][1]) for test in results]) + 1 + total_width = col_0_width + col_1_width + col_2_width + col_3_width + print + print (('{:^%ds}'%total_width).format(title)) + print ('-'*total_width) + print (('{:<%ds}{:<%ds}{:>%ds} : {:<%ds}' % (col_0_width, col_1_width, col_2_width, col_3_width)).format(*headers)) + print ('-'*(col_0_width-1) + ' '*1 + '-'*(col_1_width-1) + ' '*2 + '-'*(col_2_width-1) + ' '*3 + '-'*(col_3_width-1)) + print ('\n'.join([('{:<%dd}{:<%ds}{:>%ds} : {: %s for %.2f(sec)' % (from_id, to_id, tf_timeout) + tf_listener.waitForTransform(from_id, to_id, rospy.Time(), rospy.Duration(tf_timeout)) + res = tf_listener.lookupTransform(from_id, to_id, rospy.Time()) + except Exception as e: + res = None + finally: + waited_for = time.time() - start_time + tf_timeout = max(0.0, tf_timeout - waited_for) + return res + + +def run_tests(tests): + msg_params = {'timeout_secs': 5} + results = [] + params_strs = set([test['params_str'] for test in tests]) + for params_str in params_strs: + rec_tests = [test for test in tests if test['params_str'] == params_str] + themes = [test_types[test['type']]['listener_theme'] for test in rec_tests] + msg_retriever = CWaitForMessage(msg_params) + print ('*'*30) + print ('Running the following tests: %s' % ('\n' + '\n'.join([test['name'] for test in rec_tests]))) + print ('*'*30) + num_of_startups = 5 + is_node_up = False + for run_no in range(num_of_startups): + print + print ('*'*8 + ' Starting ROS ' + '*'*8) + print ('running node (%d/%d)' % (run_no, num_of_startups)) + cmd_params = ['roslaunch', 'realsense2_camera', 'rs_from_file.launch'] + params_str.split(' ') + print ('running command: ' + ' '.join(cmd_params)) + p_wrapper = subprocess.Popen(cmd_params, stdout=None, stderr=None) + time.sleep(2) + service_list = rosservice.get_service_list() + is_node_up = len([service for service in service_list if 'realsense2_camera/' in service]) > 0 + if is_node_up: + print ('Node is UP') + break + print ('Node is NOT UP') + print ('*'*8 + ' Killing ROS ' + '*'*9) + p_wrapper.terminate() + p_wrapper.wait() + print ('DONE') + + if is_node_up: + listener_res = msg_retriever.wait_for_messages(themes) + if 'static_tf' in [test['type'] for test in rec_tests]: + print ('Gathering static transforms') + frame_ids = ['camera_link', 'camera_depth_frame', 'camera_infra1_frame', 'camera_infra2_frame', 'camera_color_frame', 'camera_fisheye_frame', 'camera_pose'] + tf_listener = tf.TransformListener() + listener_res['static_tf'] = dict([(xx, get_tf(tf_listener, xx[0], xx[1])) for xx in itertools.combinations(frame_ids, 2)]) + print ('*'*8 + ' Killing ROS ' + '*'*9) + p_wrapper.terminate() + p_wrapper.wait() + else: + listener_res = dict([[theme_name, {}] for theme_name in themes]) + + print ('*'*30) + print ('DONE run') + print ('*'*30) + + for test in rec_tests: + try: + res = run_test(test, listener_res) + except Exception as e: + print ('Test %s Failed: %s' % (test['name'], e)) + res = False, '%s' % e + results.append([test['name'], res]) + + return results + + +def main(): + outdoors_filename = './records/outdoors_1color.bag' + all_tests = [{'name': 'non_existent_file', 'type': 'no_file', 'params': {'rosbag_filename': '/home/non_existent_file.txt'}}, + {'name': 'vis_avg_2', 'type': 'vis_avg', 'params': {'rosbag_filename': outdoors_filename}}, + {'name': 'depth_avg_1', 'type': 'depth_avg', 'params': {'rosbag_filename': outdoors_filename}}, + {'name': 'depth_w_cloud_1', 'type': 'depth_avg', 'params': {'rosbag_filename': outdoors_filename, 'enable_pointcloud': 'true'}}, + # {'name': 'points_cloud_1', 'type': 'pointscloud_avg', 'params': {'rosbag_filename': outdoors_filename, 'enable_pointcloud': 'true'}}, + # {'name': 'align_depth_color_1', 'type': 'align_depth_color', 'params': {'rosbag_filename': outdoors_filename, 'align_depth': 'true'}}, + # {'name': 'align_depth_ir1_1', 'type': 'align_depth_ir1', 'params': {'rosbag_filename': outdoors_filename, 'align_depth': 'true'}}, + {'name': 'depth_avg_decimation_1', 'type': 'depth_avg_decimation', 'params': {'rosbag_filename': outdoors_filename, 'filters': 'decimation'}}, + # {'name': 'align_depth_ir1_decimation_1', 'type': 'align_depth_ir1_decimation', 'params': {'rosbag_filename': outdoors_filename, 'filters': 'decimation', 'align_depth': 'true'}}, + # {'name': 'static_tf_1', 'type': 'static_tf', 'params': {'rosbag_filename': outdoors_filename}}, # Not working in Travis... + # {'name': 'accel_up_1', 'type': 'accel_up', 'params': {'rosbag_filename': './records/D435i_Depth_and_IMU_Stands_still.bag'}}, # Keeps failing on Travis CI. See https://github.com/IntelRealSense/realsense-ros/pull/1504#issuecomment-744226704 + ] + + # Normalize parameters: + for test in all_tests: + test['params']['rosbag_filename'] = os.path.abspath(test['params']['rosbag_filename']) + test['params_str'] = ' '.join([key + ':=' + test['params'][key] for key in sorted(test['params'].keys())]) + + if len(sys.argv) < 2 or '--help' in sys.argv or '/?' in sys.argv: + print ('USAGE:') + print ('------') + print ('rs2_test.py --all | [ [...]]') + print + print ('Available tests are:') + print ('\n'.join([test['name'] for test in all_tests])) + exit(-1) + + if '--all' in sys.argv[1:]: + tests_to_run = all_tests + else: + tests_to_run = [test for test in all_tests if test['name'] in sys.argv[1:]] + + results = run_tests(tests_to_run) + print_results(results) + + res = int(all([result[1][0] for result in results])) - 1 + print ('exit (%d)' % res) + exit(res) + +if __name__ == '__main__': + main() diff --git a/realsense_utils/realsense2_camera/scripts/set_cams_transforms.py b/realsense_utils/realsense2_camera/scripts/set_cams_transforms.py new file mode 100644 index 00000000..6e5bc45a --- /dev/null +++ b/realsense_utils/realsense2_camera/scripts/set_cams_transforms.py @@ -0,0 +1,136 @@ +import rospy +import sys +import tf +import tf2_ros +import geometry_msgs.msg + +import termios +import tty +import os +import time +import math +import json + + +def getch(): + fd = sys.stdin.fileno() + old_settings = termios.tcgetattr(fd) + try: + tty.setraw(sys.stdin.fileno()) + ch = sys.stdin.read(1) + + finally: + termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) + return ch + + +def main(): + return + + +def print_status(status): + sys.stdout.write('%-8s%-8s%-8s%-40s\r' % (status['mode'], status[status['mode']]['value'], status[status['mode']]['step'], status['message'])) + + +def publish_status(broadcaster, status): + static_transformStamped = geometry_msgs.msg.TransformStamped() + static_transformStamped.header.stamp = rospy.Time.now() + static_transformStamped.header.frame_id = from_cam + + static_transformStamped.child_frame_id = to_cam + static_transformStamped.transform.translation.x = status['x']['value'] + static_transformStamped.transform.translation.y = status['y']['value'] + static_transformStamped.transform.translation.z = status['z']['value'] + + quat = tf.transformations.quaternion_from_euler(math.radians(status['roll']['value']), + math.radians(status['pitch']['value']), + math.radians(status['azimuth']['value'])) + static_transformStamped.transform.rotation.x = quat[0] + static_transformStamped.transform.rotation.y = quat[1] + static_transformStamped.transform.rotation.z = quat[2] + static_transformStamped.transform.rotation.w = quat[3] + broadcaster.sendTransform(static_transformStamped) + + +if __name__ == '__main__': + if len(sys.argv) < 3: + print ('USAGE:') + print ('set_cams_transforms.py from_cam to_cam x y z azimuth pitch roll') + print ('x, y, z: in meters') + print ('azimuth, pitch, roll: in degrees') + print + print ('If parameters are not given read last used parameters.') + print + print ('[OPTIONS]') + print ('--file : if given, default values are loaded from file') + sys.exit(-1) + + from_cam, to_cam = sys.argv[1:3] + try: + filename = sys.argv[sys.argv.index('--file')+1] + print ('Using file %s' % os.path.abspath(filename)) + except: + filename = os.path.join(os.path.dirname(__file__), '_set_cams_info_file.txt') + print ('Using default file %s' % os.path.abspath(filename)) + + if len(sys.argv) >= 9: + x, y, z, yaw, pitch, roll = [float(arg) for arg in sys.argv[3:10]] + status = {'mode': 'pitch', + 'x': {'value': x, 'step': 0.1}, + 'y': {'value': y, 'step': 0.1}, + 'z': {'value': z, 'step': 0.1}, + 'azimuth': {'value': yaw, 'step': 1}, + 'pitch': {'value': pitch, 'step': 1}, + 'roll': {'value': roll, 'step': 1}, + 'message': ''} + print ('Use given initial values.') + else: + try: + status = json.load(open(filename, 'r')) + print ('Read initial values from file.') + except IOError as e: + print ('Failed reading initial parameters from file %s' % filename) + print ('Initial parameters must be given for initial run or if an un-initialized file has been given.') + sys.exit(-1) + + rospy.init_node('my_static_tf2_broadcaster') + broadcaster = tf2_ros.StaticTransformBroadcaster() + + print + print ('Press the following keys to change mode: x, y, z, (a)zimuth, (p)itch, (r)oll') + print ('For each mode, press 6 to increase by step and 4 to decrease') + print ('Press + to multiply step by 2 or - to divide') + print + print ('Press Q to quit') + print + + status_keys = [key[0] for key in status.keys()] + print ('%-8s%-8s%-8s%s' % ('Mode', 'value', 'step', 'message')) + print_status(status) + publish_status(broadcaster, status) + while True: + kk = getch() + status['message'] = '' + try: + key_idx = status_keys.index(kk) + status['mode'] = status.keys()[key_idx] + except ValueError as e: + if kk.upper() == 'Q': + sys.stdout.write('\n') + exit(0) + elif kk == '4': + status[status['mode']]['value'] -= status[status['mode']]['step'] + elif kk == '6': + status[status['mode']]['value'] += status[status['mode']]['step'] + elif kk == '-': + status[status['mode']]['step'] /= 2.0 + elif kk == '+': + status[status['mode']]['step'] *= 2.0 + else: + status['message'] = 'Invalid key:' + kk + + print_status(status) + publish_status(broadcaster, status) + json.dump(status, open(filename, 'w'), indent=4) + + #rospy.spin() diff --git a/realsense_utils/realsense2_camera/scripts/show_center_depth.py b/realsense_utils/realsense2_camera/scripts/show_center_depth.py new file mode 100644 index 00000000..5722d451 --- /dev/null +++ b/realsense_utils/realsense2_camera/scripts/show_center_depth.py @@ -0,0 +1,101 @@ +import rospy +from sensor_msgs.msg import Image as msg_Image +from sensor_msgs.msg import CameraInfo +from cv_bridge import CvBridge, CvBridgeError +import sys +import os +import numpy as np +import pyrealsense2 as rs2 +if (not hasattr(rs2, 'intrinsics')): + import pyrealsense2.pyrealsense2 as rs2 + +class ImageListener: + def __init__(self, depth_image_topic, depth_info_topic): + self.bridge = CvBridge() + self.sub = rospy.Subscriber(depth_image_topic, msg_Image, self.imageDepthCallback) + self.sub_info = rospy.Subscriber(depth_info_topic, CameraInfo, self.imageDepthInfoCallback) + confidence_topic = depth_image_topic.replace('depth', 'confidence') + self.sub_conf = rospy.Subscriber(confidence_topic, msg_Image, self.confidenceCallback) + self.intrinsics = None + self.pix = None + self.pix_grade = None + + def imageDepthCallback(self, data): + try: + cv_image = self.bridge.imgmsg_to_cv2(data, data.encoding) + # pick one pixel among all the pixels with the closest range: + indices = np.array(np.where(cv_image == cv_image[cv_image > 0].min()))[:,0] + pix = (indices[1], indices[0]) + self.pix = pix + line = '\rDepth at pixel(%3d, %3d): %7.1f(mm).' % (pix[0], pix[1], cv_image[pix[1], pix[0]]) + + if self.intrinsics: + depth = cv_image[pix[1], pix[0]] + result = rs2.rs2_deproject_pixel_to_point(self.intrinsics, [pix[0], pix[1]], depth) + line += ' Coordinate: %8.2f %8.2f %8.2f.' % (result[0], result[1], result[2]) + if (not self.pix_grade is None): + line += ' Grade: %2d' % self.pix_grade + line += '\r' + sys.stdout.write(line) + sys.stdout.flush() + + except CvBridgeError as e: + print(e) + return + except ValueError as e: + return + + def confidenceCallback(self, data): + try: + cv_image = self.bridge.imgmsg_to_cv2(data, data.encoding) + grades = np.bitwise_and(cv_image >> 4, 0x0f) + if (self.pix): + self.pix_grade = grades[self.pix[1], self.pix[0]] + except CvBridgeError as e: + print(e) + return + + + + def imageDepthInfoCallback(self, cameraInfo): + try: + if self.intrinsics: + return + self.intrinsics = rs2.intrinsics() + self.intrinsics.width = cameraInfo.width + self.intrinsics.height = cameraInfo.height + self.intrinsics.ppx = cameraInfo.K[2] + self.intrinsics.ppy = cameraInfo.K[5] + self.intrinsics.fx = cameraInfo.K[0] + self.intrinsics.fy = cameraInfo.K[4] + if cameraInfo.distortion_model == 'plumb_bob': + self.intrinsics.model = rs2.distortion.brown_conrady + elif cameraInfo.distortion_model == 'equidistant': + self.intrinsics.model = rs2.distortion.kannala_brandt4 + self.intrinsics.coeffs = [i for i in cameraInfo.D] + except CvBridgeError as e: + print(e) + return + +def main(): + depth_image_topic = '/camera/depth/image_rect_raw' + depth_info_topic = '/camera/depth/camera_info' + + print ('') + print ('show_center_depth.py') + print ('--------------------') + print ('App to demontrate the usage of the /camera/depth topics.') + print ('') + print ('Application subscribes to %s and %s topics.' % (depth_image_topic, depth_info_topic)) + print ('Application then calculates and print the range to the closest object.') + print ('If intrinsics data is available, it also prints the 3D location of the object') + print ('If a confedence map is also available in the topic %s, it also prints the confidence grade.' % depth_image_topic.replace('depth', 'confidence')) + print ('') + + listener = ImageListener(depth_image_topic, depth_info_topic) + rospy.spin() + +if __name__ == '__main__': + node_name = os.path.basename(sys.argv[0]).split('.')[0] + rospy.init_node(node_name) + main() diff --git a/realsense_utils/realsense2_camera/src/base_realsense_node.cpp b/realsense_utils/realsense2_camera/src/base_realsense_node.cpp new file mode 100644 index 00000000..274b6282 --- /dev/null +++ b/realsense_utils/realsense2_camera/src/base_realsense_node.cpp @@ -0,0 +1,2579 @@ +#include "realsense2_camera/base_realsense_node.h" +#include "assert.h" +#include +#include +#include +#include + +#include +#include +#include + +using namespace realsense2_camera; +using namespace ddynamic_reconfigure; + +// stream_index_pair sip{stream_type, stream_index}; +#define STREAM_NAME(sip) (static_cast(std::ostringstream() << _stream_name[sip.first] << ((sip.second>0) ? std::to_string(sip.second) : ""))).str() +#define FRAME_ID(sip) (static_cast(std::ostringstream() << "camera_" << STREAM_NAME(sip) << "_frame")).str() +#define OPTICAL_FRAME_ID(sip) (static_cast(std::ostringstream() << "camera_" << STREAM_NAME(sip) << "_optical_frame")).str() +#define ALIGNED_DEPTH_TO_FRAME_ID(sip) (static_cast(std::ostringstream() << "camera_aligned_depth_to_" << STREAM_NAME(sip) << "_frame")).str() + +SyncedImuPublisher::SyncedImuPublisher(ros::Publisher imu_publisher, std::size_t waiting_list_size): + _publisher(imu_publisher), _pause_mode(false), + _waiting_list_size(waiting_list_size) + {} + +SyncedImuPublisher::~SyncedImuPublisher() +{ + PublishPendingMessages(); +} + +void SyncedImuPublisher::Publish(sensor_msgs::Imu imu_msg) +{ + std::lock_guard lock_guard(_mutex); + if (_pause_mode) + { + if (_pending_messages.size() >= _waiting_list_size) + { + throw std::runtime_error("SyncedImuPublisher inner list reached maximum size of " + std::to_string(_pending_messages.size())); + } + _pending_messages.push(imu_msg); + } + else + { + _publisher.publish(imu_msg); + // ROS_INFO_STREAM("iid1:" << imu_msg.header.seq << ", time: " << std::setprecision (20) << imu_msg.header.stamp.toSec()); + } + return; +} + +void SyncedImuPublisher::Pause() +{ + if (!_is_enabled) return; + std::lock_guard lock_guard(_mutex); + _pause_mode = true; +} + +void SyncedImuPublisher::Resume() +{ + std::lock_guard lock_guard(_mutex); + PublishPendingMessages(); + _pause_mode = false; +} + +void SyncedImuPublisher::PublishPendingMessages() +{ + // ROS_INFO_STREAM("publish imu: " << _pending_messages.size()); + while (!_pending_messages.empty()) + { + const sensor_msgs::Imu &imu_msg = _pending_messages.front(); + _publisher.publish(imu_msg); + // ROS_INFO_STREAM("iid2:" << imu_msg.header.seq << ", time: " << std::setprecision (20) << imu_msg.header.stamp.toSec()); + _pending_messages.pop(); + } +} + +std::string BaseRealSenseNode::getNamespaceStr() +{ + auto ns = ros::this_node::getNamespace(); + ns.erase(std::remove(ns.begin(), ns.end(), '/'), ns.end()); + return ns; +} + +BaseRealSenseNode::BaseRealSenseNode(ros::NodeHandle& nodeHandle, + ros::NodeHandle& privateNodeHandle, + rs2::device dev, + const std::string& serial_no) : + _is_running(true), _base_frame_id(""), _node_handle(nodeHandle), + _pnh(privateNodeHandle), _dev(dev), _json_file_path(""), + _serial_no(serial_no), + _is_initialized_time_base(false), + _namespace(getNamespaceStr()) +{ + // Types for depth stream + _format[RS2_STREAM_DEPTH] = RS2_FORMAT_Z16; + _image_format[RS2_STREAM_DEPTH] = CV_16UC1; // CVBridge type + _encoding[RS2_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1; // ROS message type + _unit_step_size[RS2_STREAM_DEPTH] = sizeof(uint16_t); // sensor_msgs::ImagePtr row step size + _stream_name[RS2_STREAM_DEPTH] = "depth"; + + // Types for confidence stream + _image_format[RS2_STREAM_CONFIDENCE] = CV_8UC1; // CVBridge type + _encoding[RS2_STREAM_CONFIDENCE] = sensor_msgs::image_encodings::MONO8; // ROS message type + _unit_step_size[RS2_STREAM_CONFIDENCE] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size + _stream_name[RS2_STREAM_CONFIDENCE] = "confidence"; + + // Infrared stream + _format[RS2_STREAM_INFRARED] = RS2_FORMAT_Y8; + + _image_format[RS2_STREAM_INFRARED] = CV_8UC1; // CVBridge type + _encoding[RS2_STREAM_INFRARED] = sensor_msgs::image_encodings::MONO8; // ROS message type + _unit_step_size[RS2_STREAM_INFRARED] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size + _stream_name[RS2_STREAM_INFRARED] = "infra"; + + // Types for color stream + _image_format[RS2_STREAM_COLOR] = CV_8UC3; // CVBridge type + _encoding[RS2_STREAM_COLOR] = sensor_msgs::image_encodings::RGB8; // ROS message type + _unit_step_size[RS2_STREAM_COLOR] = 3; // sensor_msgs::ImagePtr row step size + _stream_name[RS2_STREAM_COLOR] = "color"; + _depth_aligned_encoding[RS2_STREAM_COLOR] = sensor_msgs::image_encodings::TYPE_16UC1; + + // Types for fisheye stream + _image_format[RS2_STREAM_FISHEYE] = CV_8UC1; // CVBridge type + _encoding[RS2_STREAM_FISHEYE] = sensor_msgs::image_encodings::MONO8; // ROS message type + _unit_step_size[RS2_STREAM_FISHEYE] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size + _stream_name[RS2_STREAM_FISHEYE] = "fisheye"; + + // Types for Motion-Module streams + _stream_name[RS2_STREAM_GYRO] = "gyro"; + + _stream_name[RS2_STREAM_ACCEL] = "accel"; + + _stream_name[RS2_STREAM_POSE] = "pose"; + + _monitor_options = {RS2_OPTION_ASIC_TEMPERATURE, RS2_OPTION_PROJECTOR_TEMPERATURE}; +} + +BaseRealSenseNode::~BaseRealSenseNode() +{ + // Kill dynamic transform thread + _is_running = false; + _cv_tf.notify_one(); + if (_tf_t && _tf_t->joinable()) + _tf_t->join(); + if (_update_functions_t && _update_functions_t->joinable()) + _update_functions_t->join(); + + _cv_monitoring.notify_one(); + if (_monitoring_t && _monitoring_t->joinable()) + { + _monitoring_t->join(); + } + + std::set module_names; + for (const std::pair>& profile : _enabled_profiles) + { + try + { + std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME); + std::pair< std::set::iterator, bool> res = module_names.insert(module_name); + if (res.second) + { + _sensors[profile.first].stop(); + _sensors[profile.first].close(); + } + } + catch (const rs2::error& e) + { + ROS_ERROR_STREAM("Exception: " << e.what()); + } + } +} + +void BaseRealSenseNode::toggleSensors(bool enabled) +{ + if(enabled) + { + std::map > profiles; + std::map active_sensors; + for (const std::pair>& profile : _enabled_profiles) + { + std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME); + ROS_INFO_STREAM("insert " << rs2_stream_to_string(profile.second.begin()->stream_type()) + << " to " << module_name); + profiles[module_name].insert(profiles[module_name].begin(), + profile.second.begin(), + profile.second.end()); + active_sensors[module_name] = _sensors[profile.first]; + } + + for (const std::pair >& sensor_profile : profiles) + { + std::string module_name = sensor_profile.first; + rs2::sensor sensor = active_sensors[module_name]; + sensor.open(sensor_profile.second); + sensor.start(_sensors_callback[module_name]); + if (sensor.is()) + { + _depth_scale_meters = sensor.as().get_depth_scale(); + } + } + } + else + { + std::set module_names; + for (const std::pair>& profile : _enabled_profiles) + { + std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME); + std::pair< std::set::iterator, bool> res = module_names.insert(module_name); + if (res.second) + { + _sensors[profile.first].stop(); + _sensors[profile.first].close(); + } + } + } +} + +void BaseRealSenseNode::setupErrorCallback() +{ + for (auto&& s : _dev.query_sensors()) + { + s.set_notifications_callback([&](const rs2::notification& n) + { + std::vector error_strings({"RT IC2 Config error", + "Left IC2 Config error"}); + if (n.get_severity() >= RS2_LOG_SEVERITY_ERROR) + { + ROS_WARN_STREAM("Hardware Notification:" << n.get_description() << "," << n.get_timestamp() << "," << n.get_severity() << "," << n.get_category()); + } + if (error_strings.end() != std::find_if(error_strings.begin(), error_strings.end(), [&n] (std::string err) + {return (n.get_description().find(err) != std::string::npos); })) + { + ROS_ERROR_STREAM("Performing Hardware Reset."); + _dev.hardware_reset(); + } + }); + } +} + +void BaseRealSenseNode::publishTopics() +{ + getParameters(); + setupDevice(); + setupFilters(); + registerHDRoptions(); + registerDynamicReconfigCb(_node_handle); + setupErrorCallback(); + enable_devices(); + setupPublishers(); + setupStreams(); + SetBaseStream(); + registerAutoExposureROIOptions(_node_handle); + publishStaticTransforms(); + publishIntrinsics(); + startMonitoring(); + publishServices(); + ROS_INFO_STREAM("RealSense Node Is Up!"); +} + +void BaseRealSenseNode::runFirstFrameInitialization(rs2_stream stream_type) +{ + if (_is_first_frame[stream_type]) + { + ROS_DEBUG_STREAM("runFirstFrameInitialization: " << _video_functions_stack.size() << ", " << rs2_stream_to_string(stream_type)); + _is_first_frame[stream_type] = false; + if (!_video_functions_stack[stream_type].empty()) + { + std::thread t = std::thread([=]() + { + while (!_video_functions_stack[stream_type].empty()) + { + _video_functions_stack[stream_type].back()(); + _video_functions_stack[stream_type].pop_back(); + } + }); + t.detach(); + } + } +} + +bool is_checkbox(rs2::options sensor, rs2_option option) +{ + rs2::option_range op_range = sensor.get_option_range(option); + return op_range.max == 1.0f && + op_range.min == 0.0f && + op_range.step == 1.0f; +} + +bool is_enum_option(rs2::options sensor, rs2_option option) +{ + static const int MAX_ENUM_OPTION_VALUES(100); + static const float EPSILON(0.05); + + rs2::option_range op_range = sensor.get_option_range(option); + if (abs((op_range.step - 1)) > EPSILON || (op_range.max > MAX_ENUM_OPTION_VALUES)) return false; + for (auto i = op_range.min; i <= op_range.max; i += op_range.step) + { + if (sensor.get_option_value_description(option, i) == nullptr) + continue; + return true; + } + return false; +} + +bool is_int_option(rs2::options sensor, rs2_option option) +{ + rs2::option_range op_range = sensor.get_option_range(option); + return (op_range.step == 1.0); +} + +std::map get_enum_method(rs2::options sensor, rs2_option option) +{ + std::map dict; // An enum to set size + if (is_enum_option(sensor, option)) + { + rs2::option_range op_range = sensor.get_option_range(option); + const auto op_range_min = int(op_range.min); + const auto op_range_max = int(op_range.max); + const auto op_range_step = int(op_range.step); + for (auto val = op_range_min; val <= op_range_max; val += op_range_step) + { + if (sensor.get_option_value_description(option, val) == nullptr) + continue; + dict[sensor.get_option_value_description(option, val)] = val; + } + } + return dict; +} + +namespace realsense2_camera +{ + +template +std::ostream& operator<<(std::ostream& os, const std::map& m) +{ + os << '{'; + for (const auto& kv : m) + { + os << " {" << kv.first << ": " << kv.second << '}'; + } + os << " }"; + return os; +} + +} + +/** + * Same as ros::names::isValidCharInName, but re-implemented here because it's not exposed. + */ +bool isValidCharInName(char c) +{ + return std::isalnum(c) || c == '/' || c == '_'; +} + +/** + * ROS Graph Resource names don't allow spaces and hyphens (see http://wiki.ros.org/Names), + * so we replace them here with underscores. + */ +std::string create_graph_resource_name(const std::string &original_name) +{ + std::string fixed_name = original_name; + std::transform(fixed_name.begin(), fixed_name.end(), fixed_name.begin(), + [](unsigned char c) { return std::tolower(c); }); + std::replace_if(fixed_name.begin(), fixed_name.end(), [](const char c) { return !isValidCharInName(c); }, + '_'); + return fixed_name; +} + +void BaseRealSenseNode::set_auto_exposure_roi(const std::string option_name, rs2::sensor sensor, int new_value) +{ + rs2::region_of_interest& auto_exposure_roi(_auto_exposure_roi[sensor.get_info(RS2_CAMERA_INFO_NAME)]); + if (option_name == "left") + auto_exposure_roi.min_x = new_value; + else if (option_name == "right") + auto_exposure_roi.max_x = new_value; + else if (option_name == "top") + auto_exposure_roi.min_y = new_value; + else if (option_name == "bottom") + auto_exposure_roi.max_y = new_value; + else + { + ROS_WARN_STREAM("Invalid option_name: " << option_name << " while setting auto exposure ROI."); + return; + } + set_sensor_auto_exposure_roi(sensor); +} + +void BaseRealSenseNode::set_sensor_auto_exposure_roi(rs2::sensor sensor) +{ + const rs2::region_of_interest& auto_exposure_roi(_auto_exposure_roi[sensor.get_info(RS2_CAMERA_INFO_NAME)]); + try + { + sensor.as().set_region_of_interest(auto_exposure_roi); + } + catch(const std::runtime_error& e) + { + ROS_ERROR_STREAM(e.what()); + } +} + +void BaseRealSenseNode::readAndSetDynamicParam(ros::NodeHandle& nh1, std::shared_ptr ddynrec, + const std::string option_name, const int min_val, const int max_val, rs2::sensor sensor, + int* option_value) +{ + nh1.param(option_name, *option_value, *option_value); //param (const std::string ¶m_name, T ¶m_val, const T &default_val) const + if (*option_value < min_val) *option_value = min_val; + if (*option_value > max_val) *option_value = max_val; + + ddynrec->registerVariable( + option_name, *option_value, [this, sensor, option_name](int new_value){set_auto_exposure_roi(option_name, sensor, new_value);}, + "auto-exposure " + option_name + " coordinate", min_val, max_val); +} + +void BaseRealSenseNode::registerAutoExposureROIOptions(ros::NodeHandle& nh) +{ + for (const std::pair>& profile : _enabled_profiles) + { + rs2::sensor sensor = _sensors[profile.first]; + std::string module_base_name(sensor.get_info(RS2_CAMERA_INFO_NAME)); + if (sensor.is() && _auto_exposure_roi.find(module_base_name) == _auto_exposure_roi.end()) + { + int max_x(_width[profile.first]-1); + int max_y(_height[profile.first]-1); + + std::string module_name = create_graph_resource_name(module_base_name) +"/auto_exposure_roi"; + ros::NodeHandle nh1(nh, module_name); + std::shared_ptr ddynrec = std::make_shared(nh1); + + _auto_exposure_roi[module_base_name] = {0, 0, max_x, max_y}; + rs2::region_of_interest& auto_exposure_roi(_auto_exposure_roi[module_base_name]); + readAndSetDynamicParam(nh1, ddynrec, "left", 0, max_x, sensor, &(auto_exposure_roi.min_x)); + readAndSetDynamicParam(nh1, ddynrec, "right", 0, max_x, sensor, &(auto_exposure_roi.max_x)); + readAndSetDynamicParam(nh1, ddynrec, "top", 0, max_y, sensor, &(auto_exposure_roi.min_y)); + readAndSetDynamicParam(nh1, ddynrec, "bottom", 0, max_y, sensor, &(auto_exposure_roi.max_y)); + + ddynrec->publishServicesTopics(); + _ddynrec.push_back(ddynrec); + + // Initiate the call to set_sensor_auto_exposure_roi, after the first frame arrive. + rs2_stream stream_type = profile.first.first; + _video_functions_stack[stream_type].push_back([this, sensor](){set_sensor_auto_exposure_roi(sensor);}); + _is_first_frame[stream_type] = true; + } + } +} + +void BaseRealSenseNode::registerDynamicOption(ros::NodeHandle& nh, rs2::options sensor, std::string& module_name) +{ + ros::NodeHandle nh1(nh, module_name); + std::shared_ptr ddynrec = std::make_shared(nh1); + for (auto i = 0; i < RS2_OPTION_COUNT; i++) + { + rs2_option option = static_cast(i); + const std::string option_name(create_graph_resource_name(rs2_option_to_string(option))); + try + { + if (!sensor.supports(option) || sensor.is_option_read_only(option)) + { + continue; + } + if (is_checkbox(sensor, option)) + { + auto option_value = bool(sensor.get_option(option)); + if (nh1.param(option_name, option_value, option_value)) + { + sensor.set_option(option, option_value); + } + ddynrec->registerVariable( + option_name, option_value, + [option, sensor](bool new_value) { sensor.set_option(option, new_value); }, + sensor.get_option_description(option)); + continue; + } + const auto enum_dict = get_enum_method(sensor, option); + if (enum_dict.empty()) + { + rs2::option_range op_range = sensor.get_option_range(option); + const auto sensor_option_value = sensor.get_option(option); + auto option_value = sensor_option_value; + if (nh1.param(option_name, option_value, option_value)) + { + if (option_value < op_range.min || op_range.max < option_value) + { + ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option_value + << " outside the range [" << op_range.min << ", " << op_range.max + << "]. Using current sensor value " << sensor_option_value << " instead."); + option_value = sensor_option_value; + } + else + { + sensor.set_option(option, option_value); + } + } + if (option_value < op_range.min || op_range.max < option_value) + { + ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option_value + << " that is not in range [" << op_range.min << ", " << op_range.max << "]" + << ". Removing this parameter from dynamic reconfigure options."); + continue; + } + if (is_int_option(sensor, option)) + { + ddynrec->registerVariable( + option_name, int(option_value), + [option, sensor](int new_value) { sensor.set_option(option, new_value); }, + sensor.get_option_description(option), int(op_range.min), int(op_range.max)); + } + else + { + if (i == RS2_OPTION_DEPTH_UNITS) + { + if (ROS_DEPTH_SCALE >= op_range.min && ROS_DEPTH_SCALE <= op_range.max) + { + sensor.set_option(option, ROS_DEPTH_SCALE); + op_range.min = ROS_DEPTH_SCALE; + op_range.max = ROS_DEPTH_SCALE; + + _depth_scale_meters = ROS_DEPTH_SCALE; + } + } + else + { + ddynrec->registerVariable( + option_name, option_value, + [option, sensor](double new_value) { sensor.set_option(option, new_value); }, + sensor.get_option_description(option), double(op_range.min), double(op_range.max)); + } + } + } + else + { + const auto sensor_option_value = sensor.get_option(option); + auto option_value = int(sensor_option_value); + if (nh1.param(option_name, option_value, option_value)) + { + if (std::find_if(enum_dict.cbegin(), enum_dict.cend(), + [&option_value](const std::pair& kv) { + return kv.second == option_value; + }) == enum_dict.cend()) + { + ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option_value + << " that is not in the enum " << enum_dict + << ". Using current sensor value " << sensor_option_value << " instead."); + option_value = sensor_option_value; + } + else + { + sensor.set_option(option, option_value); + } + } + if (std::find_if(enum_dict.cbegin(), enum_dict.cend(), + [&option_value](const std::pair& kv) { + return kv.second == option_value; + }) == enum_dict.cend()) + { + ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option_value + << " that is not in the enum " << enum_dict + << ". Removing this parameter from dynamic reconfigure options."); + continue; + } + if (module_name == "stereo_module" && i == RS2_OPTION_SEQUENCE_ID) + { + ddynrec->registerEnumVariable( + option_name, option_value, + [this, option, sensor, module_name](int new_value) + { + sensor.set_option(option, new_value); + _update_functions_v.push_back([this, module_name, sensor]() + {set_sensor_parameter_to_ros(module_name, sensor, RS2_OPTION_EXPOSURE);}); + _update_functions_v.push_back([this, module_name, sensor]() + {set_sensor_parameter_to_ros(module_name, sensor, RS2_OPTION_GAIN);}); + _update_functions_cv.notify_one(); + }, + sensor.get_option_description(option), enum_dict); + } + else + { + ddynrec->registerEnumVariable( + option_name, option_value, + [option, sensor](int new_value) { sensor.set_option(option, new_value); }, + sensor.get_option_description(option), enum_dict); + } + } + } + catch(const rs2::backend_error& e) + { + ROS_WARN_STREAM("Failed to set option: " << option_name << ": " << e.what()); + } + catch(const std::exception& e) + { + std::cerr << e.what() << '\n'; + } + + } + ddynrec->publishServicesTopics(); + _ddynrec.push_back(ddynrec); +} + +void BaseRealSenseNode::registerDynamicReconfigCb(ros::NodeHandle& nh) +{ + ROS_INFO("Setting Dynamic reconfig parameters."); + + for(rs2::sensor sensor : _dev_sensors) + { + std::string module_name = create_graph_resource_name(sensor.get_info(RS2_CAMERA_INFO_NAME)); + ROS_DEBUG_STREAM("module_name:" << module_name); + registerDynamicOption(nh, sensor, module_name); + } + + for (NamedFilter nfilter : _filters) + { + std::string module_name = nfilter._name; + auto sensor = *(nfilter._filter); + ROS_DEBUG_STREAM("module_name:" << module_name); + registerDynamicOption(nh, sensor, module_name); + } + ROS_INFO("Done Setting Dynamic reconfig parameters."); +} + +void BaseRealSenseNode::registerHDRoptions() +{ + if (std::find_if(std::begin(_filters), std::end(_filters), [](NamedFilter f){return f._name == "hdr_merge";}) == std::end(_filters)) + return; + + std::string module_name; + std::vector options{RS2_OPTION_EXPOSURE, RS2_OPTION_GAIN}; + for(rs2::sensor sensor : _dev_sensors) + { + if (!sensor.is()) continue; + std::string module_name = create_graph_resource_name(sensor.get_info(RS2_CAMERA_INFO_NAME)); + // Read initialization parameters and initialize hdr_merge filter: + unsigned int seq_size = sensor.get_option(RS2_OPTION_SEQUENCE_SIZE); + for (unsigned int seq_id = 1; seq_id <= seq_size; seq_id++ ) + { + sensor.set_option(RS2_OPTION_SEQUENCE_ID, seq_id); + for (rs2_option& option : options) + { + std::stringstream param_name_str; + param_name_str << module_name << "/" << create_graph_resource_name(rs2_option_to_string(option)) << "/" << seq_id; + std::string param_name(param_name_str.str()); + ROS_INFO_STREAM("Reading option: " << param_name); + int option_value = sensor.get_option(option); + + int user_set_option_value; + _pnh.param(param_name, user_set_option_value, option_value); + _pnh.deleteParam(param_name); + if (option_value != user_set_option_value) + { + ROS_INFO_STREAM("Set " << rs2_option_to_string(option) << " to " << user_set_option_value); + sensor.set_option(option, user_set_option_value); + } + } + } + sensor.set_option(RS2_OPTION_SEQUENCE_ID, 0); // Set back to default. + sensor.set_option(RS2_OPTION_HDR_ENABLED, true); + + monitor_update_functions(); // Start parameters update thread + + break; + } +} + +void BaseRealSenseNode::set_sensor_parameter_to_ros(const std::string& module_name, rs2::options sensor, rs2_option option) +{ + dynamic_reconfigure::ReconfigureRequest srv_req; + dynamic_reconfigure::ReconfigureResponse srv_resp; + dynamic_reconfigure::IntParameter int_param; + dynamic_reconfigure::Config conf; + + int_param.name = create_graph_resource_name(rs2_option_to_string(option)); //"sequence_id" + int_param.value = sensor.get_option(option); + conf.ints.push_back(int_param); + + srv_req.config = conf; + + std::string service_name = module_name + "/set_parameters"; + if (ros::service::call(service_name, srv_req, srv_resp)) { + ROS_INFO_STREAM( "call to set " << service_name << "/" << int_param.name << " to " << int_param.value << " succeeded"); + } else { + ROS_ERROR_STREAM( "call to set " << service_name << "/" << int_param.name << " to " << int_param.value << " failed"); + } +} + +void BaseRealSenseNode::monitor_update_functions() +{ + int time_interval(1000); + std::function func = [this, time_interval](){ + std::mutex mu; + std::unique_lock lock(mu); + while(_is_running) { + _update_functions_cv.wait_for(lock, std::chrono::milliseconds(time_interval), [&]{return !_is_running || !_update_functions_v.empty();}); + while (!_update_functions_v.empty()) + { + _update_functions_v.back()(); + _update_functions_v.pop_back(); + } + } + }; + _update_functions_t = std::make_shared(func); +} + +rs2_stream BaseRealSenseNode::rs2_string_to_stream(std::string str) +{ + if (str == "RS2_STREAM_ANY") + return RS2_STREAM_ANY; + if (str == "RS2_STREAM_COLOR") + return RS2_STREAM_COLOR; + if (str == "RS2_STREAM_INFRARED") + return RS2_STREAM_INFRARED; + if (str == "RS2_STREAM_FISHEYE") + return RS2_STREAM_FISHEYE; + throw std::runtime_error("Unknown stream string " + str); +} + +void BaseRealSenseNode::getParameters() +{ + ROS_INFO("getParameters..."); + + // Setup system to use RGB image from the infra stream if configured by user + bool infra_rgb; + _pnh.param("infra_rgb", infra_rgb, false); + if (infra_rgb) + { + _format[RS2_STREAM_INFRARED] = RS2_FORMAT_RGB8; + _image_format[RS2_STREAM_INFRARED] = CV_8UC3; // CVBridge type + _encoding[RS2_STREAM_INFRARED] = sensor_msgs::image_encodings::RGB8; // ROS message type + _unit_step_size[RS2_STREAM_INFRARED] = 3 * sizeof(uint8_t); // sensor_msgs::ImagePtr row step size + ROS_INFO_STREAM("Infrared RGB stream enabled"); + } + + _pnh.param("align_depth", _align_depth, ALIGN_DEPTH); + _pnh.param("enable_pointcloud", _pointcloud, POINTCLOUD); + std::string pc_texture_stream(""); + int pc_texture_idx; + _pnh.param("pointcloud_texture_stream", pc_texture_stream, std::string("RS2_STREAM_COLOR")); + _pnh.param("pointcloud_texture_index", pc_texture_idx, 0); + _pointcloud_texture = stream_index_pair{rs2_string_to_stream(pc_texture_stream), pc_texture_idx}; + + _pnh.param("filters", _filters_str, DEFAULT_FILTERS); + _pointcloud |= (_filters_str.find("pointcloud") != std::string::npos); + + _pnh.param("publish_tf", _publish_tf, PUBLISH_TF); + _pnh.param("tf_publish_rate", _tf_publish_rate, TF_PUBLISH_RATE); + + _pnh.param("enable_sync", _sync_frames, SYNC_FRAMES); + if (_pointcloud || _align_depth || _filters_str.size() > 0) + _sync_frames = true; + + _pnh.param("json_file_path", _json_file_path, std::string("")); + + for (auto& stream : IMAGE_STREAMS) + { + std::string param_name(_stream_name[stream.first] + "_width"); + _pnh.param(param_name, _width[stream], IMAGE_WIDTH); + ROS_DEBUG_STREAM("parameter:" << param_name << " = " << _width[stream]); + param_name = _stream_name[stream.first] + "_height"; + _pnh.param(param_name, _height[stream], IMAGE_HEIGHT); + ROS_DEBUG_STREAM("parameter:" << param_name << " = " << _height[stream]); + param_name = _stream_name[stream.first] + "_fps"; + _pnh.param(param_name, _fps[stream], IMAGE_FPS); + ROS_DEBUG_STREAM("parameter:" << param_name << " = " << _fps[stream]); + param_name = "enable_" + STREAM_NAME(stream); + _pnh.param(param_name, _enable[stream], true); + ROS_DEBUG_STREAM("parameter:" << param_name << " = " << _enable[stream]); + } + + for (auto& stream : HID_STREAMS) + { + std::string param_name(_stream_name[stream.first] + "_fps"); + ROS_DEBUG_STREAM("reading parameter:" << param_name); + _pnh.param(param_name, _fps[stream], IMU_FPS); + param_name = "enable_" + STREAM_NAME(stream); + _pnh.param(param_name, _enable[stream], ENABLE_IMU); + ROS_DEBUG_STREAM("_enable[" << _stream_name[stream.first] << "]:" << _enable[stream]); + } + _pnh.param("base_frame_id", _base_frame_id, DEFAULT_BASE_FRAME_ID); + _pnh.param("odom_frame_id", _odom_frame_id, DEFAULT_ODOM_FRAME_ID); + + std::vector streams(IMAGE_STREAMS); + streams.insert(streams.end(), HID_STREAMS.begin(), HID_STREAMS.end()); + for (auto& stream : streams) + { + std::string param_name(static_cast(std::ostringstream() << STREAM_NAME(stream) << "_frame_id").str()); + _pnh.param(param_name, _frame_id[stream], FRAME_ID(stream)); + ROS_DEBUG_STREAM("frame_id: reading parameter:" << param_name << " : " << _frame_id[stream]); + param_name = static_cast(std::ostringstream() << STREAM_NAME(stream) << "_optical_frame_id").str(); + _pnh.param(param_name, _optical_frame_id[stream], OPTICAL_FRAME_ID(stream)); + ROS_DEBUG_STREAM("optical: reading parameter:" << param_name << " : " << _optical_frame_id[stream]); + } + + std::string unite_imu_method_str(""); + _pnh.param("unite_imu_method", unite_imu_method_str, DEFAULT_UNITE_IMU_METHOD); + if (unite_imu_method_str == "linear_interpolation") + _imu_sync_method = imu_sync_method::LINEAR_INTERPOLATION; + else if (unite_imu_method_str == "copy") + _imu_sync_method = imu_sync_method::COPY; + else + _imu_sync_method = imu_sync_method::NONE; + + if (_imu_sync_method > imu_sync_method::NONE) + { + _pnh.param("imu_optical_frame_id", _optical_frame_id[GYRO], DEFAULT_IMU_OPTICAL_FRAME_ID); + } + + { + stream_index_pair stream(COLOR); + std::string param_name(static_cast(std::ostringstream() << "aligned_depth_to_" << STREAM_NAME(stream) << "_frame_id").str()); + _pnh.param(param_name, _depth_aligned_frame_id[stream], ALIGNED_DEPTH_TO_FRAME_ID(stream)); + } + + _pnh.param("allow_no_texture_points", _allow_no_texture_points, ALLOW_NO_TEXTURE_POINTS); + _pnh.param("ordered_pc", _ordered_pc, ORDERED_POINTCLOUD); + _pnh.param("clip_distance", _clipping_distance, static_cast(-1.0)); + _pnh.param("linear_accel_cov", _linear_accel_cov, static_cast(0.01)); + _pnh.param("angular_velocity_cov", _angular_velocity_cov, static_cast(0.01)); + _pnh.param("hold_back_imu_for_frames", _hold_back_imu_for_frames, HOLD_BACK_IMU_FOR_FRAMES); + _pnh.param("publish_odom_tf", _publish_odom_tf, PUBLISH_ODOM_TF); +} + +void BaseRealSenseNode::setupDevice() +{ + ROS_INFO("setupDevice..."); + try{ + if (!_json_file_path.empty()) + { + if (_dev.is()) + { + std::stringstream ss; + std::ifstream in(_json_file_path); + if (in.is_open()) + { + ss << in.rdbuf(); + std::string json_file_content = ss.str(); + + auto adv = _dev.as(); + adv.load_json(json_file_content); + ROS_INFO_STREAM("JSON file is loaded! (" << _json_file_path << ")"); + } + else + ROS_WARN_STREAM("JSON file provided doesn't exist! (" << _json_file_path << ")"); + } + else + ROS_WARN("Device does not support advanced settings!"); + } + else + ROS_INFO("JSON file is not provided"); + + ROS_INFO_STREAM("ROS Node Namespace: " << _namespace); + + auto camera_name = _dev.get_info(RS2_CAMERA_INFO_NAME); + ROS_INFO_STREAM("Device Name: " << camera_name); + + ROS_INFO_STREAM("Device Serial No: " << _serial_no); + + auto camera_id = _dev.get_info(RS2_CAMERA_INFO_PHYSICAL_PORT); + + ROS_INFO_STREAM("Device physical port: " << camera_id); + + auto fw_ver = _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION); + ROS_INFO_STREAM("Device FW version: " << fw_ver); + + auto pid = _dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID); + ROS_INFO_STREAM("Device Product ID: 0x" << pid); + + ROS_INFO_STREAM("Enable PointCloud: " << ((_pointcloud)?"On":"Off")); + ROS_INFO_STREAM("Align Depth: " << ((_align_depth)?"On":"Off")); + ROS_INFO_STREAM("Sync Mode: " << ((_sync_frames)?"On":"Off")); + + _dev_sensors = _dev.query_sensors(); + + + std::function frame_callback_function, imu_callback_function; + if (_sync_frames) + { + frame_callback_function = _syncer; + + auto frame_callback_inner = [this](rs2::frame frame){ + frame_callback(frame); + }; + _syncer.start(frame_callback_inner); + } + else + { + frame_callback_function = [this](rs2::frame frame){frame_callback(frame);}; + } + + if (_imu_sync_method == imu_sync_method::NONE) + { + imu_callback_function = [this](rs2::frame frame){imu_callback(frame);}; + } + else + { + imu_callback_function = [this](rs2::frame frame){imu_callback_sync(frame, _imu_sync_method);}; + } + std::function multiple_message_callback_function = [this](rs2::frame frame){multiple_message_callback(frame, _imu_sync_method);}; + + ROS_INFO_STREAM("Device Sensors: "); + for(auto&& sensor : _dev_sensors) + { + for (auto& profile : sensor.get_stream_profiles()) + { + auto video_profile = profile.as(); + stream_index_pair sip(video_profile.stream_type(), video_profile.stream_index()); + if (_sensors.find( sip ) != _sensors.end()) + continue; + _sensors[sip] = sensor; + } + + std::string module_name = sensor.get_info(RS2_CAMERA_INFO_NAME); + if (sensor.is()) + { + _sensors_callback[module_name] = frame_callback_function; + } + else if (sensor.is()) + { + _sensors_callback[module_name] = frame_callback_function; + } + else if (sensor.is()) + { + _sensors_callback[module_name] = frame_callback_function; + } + else if (sensor.is()) + { + _sensors_callback[module_name] = imu_callback_function; + } + else if (sensor.is()) + { + _sensors_callback[module_name] = multiple_message_callback_function; + } + else + { + ROS_ERROR_STREAM("Module Name \"" << module_name << "\" isn't supported by LibRealSense! Terminating RealSense Node..."); + ros::shutdown(); + exit(1); + } + ROS_INFO_STREAM(module_name << " was found."); + } + + // Update "enable" map + for (std::pair const& enable : _enable ) + { + const stream_index_pair& stream_index(enable.first); + if (enable.second && _sensors.find(stream_index) == _sensors.end()) + { + ROS_INFO_STREAM("(" << rs2_stream_to_string(stream_index.first) << ", " << stream_index.second << ") sensor isn't supported by current device! -- Skipping..."); + _enable[enable.first] = false; + } + } + } + catch(const std::exception& ex) + { + ROS_ERROR_STREAM("An exception has been thrown: " << ex.what()); + throw; + } + catch(...) + { + ROS_ERROR_STREAM("Unknown exception has occured!"); + throw; + } +} + +void BaseRealSenseNode::setupPublishers() +{ + ROS_INFO("setupPublishers..."); + image_transport::ImageTransport image_transport(_node_handle); + + for (auto& stream : IMAGE_STREAMS) + { + if (_enable[stream]) + { + std::stringstream image_raw, camera_info, topic_metadata; + bool rectified_image = false; + if (stream == DEPTH || stream == CONFIDENCE || stream == INFRA1 || stream == INFRA2) + rectified_image = true; + + std::string stream_name(STREAM_NAME(stream)); + image_raw << stream_name << "/image_" << ((rectified_image)?"rect_":"") << "raw"; + camera_info << stream_name << "/camera_info"; + topic_metadata << stream_name << "/metadata"; + + std::shared_ptr frequency_diagnostics(new FrequencyDiagnostics(_fps[stream], stream_name, _serial_no)); + _image_publishers[stream] = {image_transport.advertise(image_raw.str(), 1), frequency_diagnostics}; + _info_publisher[stream] = _node_handle.advertise(camera_info.str(), 1); + _metadata_publishers[stream] = std::make_shared(_node_handle.advertise(topic_metadata.str(), 1)); + + if (_align_depth && stream == COLOR) + { + std::stringstream aligned_image_raw, aligned_camera_info; + aligned_image_raw << "aligned_depth_to_" << stream_name << "/image_raw"; + aligned_camera_info << "aligned_depth_to_" << stream_name << "/camera_info"; + + std::string aligned_stream_name = "aligned_depth_to_" + stream_name; + std::shared_ptr frequency_diagnostics(new FrequencyDiagnostics(_fps[stream], aligned_stream_name, _serial_no)); + _depth_aligned_image_publishers[stream] = {image_transport.advertise(aligned_image_raw.str(), 1), frequency_diagnostics}; + _depth_aligned_info_publisher[stream] = _node_handle.advertise(aligned_camera_info.str(), 1); + } + + if (stream == DEPTH && _pointcloud) + { + _pointcloud_publisher = _node_handle.advertise("depth/color/points", 1); + } + } + } + + _synced_imu_publisher = std::make_shared(); + if (_imu_sync_method > imu_sync_method::NONE && _enable[GYRO] && _enable[ACCEL]) + { + ROS_INFO("Start publisher IMU"); + _synced_imu_publisher = std::make_shared(_node_handle.advertise("imu", 5)); + _synced_imu_publisher->Enable(_hold_back_imu_for_frames); + } + else + { + if (_enable[GYRO]) + { + _imu_publishers[GYRO] = _node_handle.advertise("gyro/sample", 100); + _metadata_publishers[GYRO] = std::make_shared(_node_handle.advertise("gyro/metadata", 1)); + } + + if (_enable[ACCEL]) + { + _imu_publishers[ACCEL] = _node_handle.advertise("accel/sample", 100); + _metadata_publishers[ACCEL] = std::make_shared(_node_handle.advertise("accel/metadata", 1)); + } + } + if (_enable[POSE]) + { + _imu_publishers[POSE] = _node_handle.advertise("odom/sample", 100); + _metadata_publishers[POSE] = std::make_shared(_node_handle.advertise("odom/metadata", 1)); + } + + + if (_enable[FISHEYE] && + _enable[DEPTH]) + { + _depth_to_other_extrinsics_publishers[FISHEYE] = _node_handle.advertise("extrinsics/depth_to_fisheye", 1, true); + } + + if (_enable[COLOR] && + _enable[DEPTH]) + { + _depth_to_other_extrinsics_publishers[COLOR] = _node_handle.advertise("extrinsics/depth_to_color", 1, true); + } + + if (_enable[INFRA1] && + _enable[DEPTH]) + { + _depth_to_other_extrinsics_publishers[INFRA1] = _node_handle.advertise("extrinsics/depth_to_infra1", 1, true); + } + + if (_enable[INFRA2] && + _enable[DEPTH]) + { + _depth_to_other_extrinsics_publishers[INFRA2] = _node_handle.advertise("extrinsics/depth_to_infra2", 1, true); + } +} + +void BaseRealSenseNode::enable_devices() +{ + for (auto& elem : IMAGE_STREAMS) + { + if (_enable[elem]) + { + auto& sens = _sensors[elem]; + auto profiles = sens.get_stream_profiles(); + rs2::stream_profile default_profile, selected_profile; + for (auto& profile : profiles) + { + auto video_profile = profile.as(); + ROS_DEBUG_STREAM("Sensor profile: " << + "stream_type: " << rs2_stream_to_string(video_profile.stream_type()) << "(" << video_profile.stream_index() << ")" << + "Format: " << video_profile.format() << + ", Width: " << video_profile.width() << + ", Height: " << video_profile.height() << + ", FPS: " << video_profile.fps()); + + if (profile.stream_type() == elem.first && profile.stream_index() == elem.second) + { + if (profile.is_default()) + { + default_profile = profile; + } + if ((_width[elem] == 0 || video_profile.width() == _width[elem]) && + (_height[elem] == 0 || video_profile.height() == _height[elem]) && + (_fps[elem] == 0 || video_profile.fps() == _fps[elem]) && + (_format.find(elem.first) == _format.end() || video_profile.format() == _format[elem.first] )) + { + selected_profile = profile; + break; + } + } + + } + if (!selected_profile) + { + ROS_WARN_STREAM_COND((_width[elem]!=-1 || _height[elem]!=-1 || _fps[elem]!=-1), "Given stream configuration is not supported by the device! " << + " Stream: " << rs2_stream_to_string(elem.first) << + ", Stream Index: " << elem.second << + ", Width: " << _width[elem] << + ", Height: " << _height[elem] << + ", FPS: " << _fps[elem] << + ", Format: " << ((_format.find(elem.first) == _format.end())? "None":rs2_format_to_string(rs2_format(_format[elem.first])))); + if (default_profile) + { + ROS_WARN_STREAM_COND((_width[elem]!=-1 || _height[elem]!=-1 || _fps[elem]!=-1), "Using default profile instead."); + selected_profile = default_profile; + } + } + if (selected_profile) + { + auto video_profile = selected_profile.as(); + _width[elem] = video_profile.width(); + _height[elem] = video_profile.height(); + _fps[elem] = video_profile.fps(); + _enabled_profiles[elem].push_back(selected_profile); + _image[elem] = cv::Mat(_height[elem], _width[elem], _image_format[elem.first], cv::Scalar(0, 0, 0)); + ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - width: " << _width[elem] << ", height: " << _height[elem] << ", fps: " << _fps[elem] << ", " << "Format: " << video_profile.format()); + } + else + { + _enable[elem] = false; + } + } + } + if (_align_depth) + { + for (auto& profiles : _enabled_profiles) + { + _depth_aligned_image[profiles.first] = cv::Mat(_height[DEPTH], _width[DEPTH], _image_format[DEPTH.first], cv::Scalar(0, 0, 0)); + _depth_scaled_image[profiles.first] = cv::Mat(_height[DEPTH], _width[DEPTH], _image_format[DEPTH.first], cv::Scalar(0, 0, 0)); + } + } + + // Streaming HID + for (auto& elem : HID_STREAMS) + { + if (_enable[elem]) + { + auto& sens = _sensors[elem]; + auto profiles = sens.get_stream_profiles(); + rs2::stream_profile default_profile, selected_profile; + ROS_DEBUG_STREAM("Available profiles:"); + for (rs2::stream_profile& profile : profiles) + { + ROS_DEBUG_STREAM("type:" << rs2_stream_to_string(profile.stream_type()) << + " fps: " << profile.fps() << ". format: " << profile.format()); + } + for (rs2::stream_profile& profile : profiles) + { + if (profile.stream_type() == elem.first) + { + if (profile.is_default()) + default_profile = profile; + if (_fps[elem] == 0 || profile.fps() == _fps[elem]) + { + selected_profile = profile; + break; + } + } + } + if (!selected_profile) + { + std::string stream_name(STREAM_NAME(elem)); + ROS_WARN_STREAM_COND((_fps[elem]!=-1), "No mathcing profile found for " << stream_name << " with fps=" << _fps[elem]); + if (default_profile) + { + ROS_WARN_STREAM_COND((_fps[elem]!=-1), "Using default profile instead."); + selected_profile = default_profile; + } + } + if(selected_profile) + { + _fps[elem] = selected_profile.fps(); + _enabled_profiles[elem].push_back(selected_profile); + ROS_INFO_STREAM(STREAM_NAME(elem) << " stream is enabled - fps: " << _fps[elem]); + } + else + { + _enable[elem] = false; + } + } + } +} + +void BaseRealSenseNode::setupFilters() +{ + std::vector filters_str; + boost::split(filters_str, _filters_str, [](char c){return c == ',';}); + bool use_disparity_filter(false); + bool use_colorizer_filter(false); + bool use_decimation_filter(false); + bool use_hdr_filter(false); + for (std::vector::iterator s_iter=filters_str.begin(); s_iter!=filters_str.end(); s_iter++) + { + (*s_iter).erase(std::remove_if((*s_iter).begin(), (*s_iter).end(), isspace), (*s_iter).end()); // Remove spaces + + if ((*s_iter) == "colorizer") + { + use_colorizer_filter = true; + } + else if ((*s_iter) == "disparity") + { + use_disparity_filter = true; + } + else if ((*s_iter) == "spatial") + { + ROS_INFO("Add Filter: spatial"); + _filters.push_back(NamedFilter("spatial", std::make_shared())); + } + else if ((*s_iter) == "temporal") + { + ROS_INFO("Add Filter: temporal"); + _filters.push_back(NamedFilter("temporal", std::make_shared())); + } + else if ((*s_iter) == "hole_filling") + { + ROS_INFO("Add Filter: hole_filling"); + _filters.push_back(NamedFilter("hole_filling", std::make_shared())); + } + else if ((*s_iter) == "decimation") + { + use_decimation_filter = true; + } + else if ((*s_iter) == "pointcloud") + { + assert(_pointcloud); // For now, it is set in getParameters().. + } + else if ((*s_iter) == "hdr_merge") + { + use_hdr_filter = true; + } + else if ((*s_iter).size() > 0) + { + ROS_ERROR_STREAM("Unknown Filter: " << (*s_iter)); + throw; + } + } + if (use_disparity_filter) + { + ROS_INFO("Add Filter: disparity"); + _filters.insert(_filters.begin(), NamedFilter("disparity_start", std::make_shared())); + _filters.push_back(NamedFilter("disparity_end", std::make_shared(false))); + ROS_INFO("Done Add Filter: disparity"); + } + if (use_hdr_filter) + { + ROS_INFO("Add Filter: hdr_merge"); + _filters.insert(_filters.begin(),NamedFilter("hdr_merge", std::make_shared())); + ROS_INFO("Add Filter: sequence_id_filter"); + _filters.insert(_filters.begin(),NamedFilter("sequence_id_filter", std::make_shared())); + } + if (use_decimation_filter) + { + ROS_INFO("Add Filter: decimation"); + _filters.insert(_filters.begin(),NamedFilter("decimation", std::make_shared())); + } + if (_align_depth) + { + _filters.push_back(NamedFilter("align_to_color", std::make_shared(RS2_STREAM_COLOR))); + } + if (use_colorizer_filter) + { + ROS_INFO("Add Filter: colorizer"); + _colorizer = std::make_shared(); + _filters.push_back(NamedFilter("colorizer", _colorizer)); + // Types for depth stream + _image_format[DEPTH.first] = _image_format[COLOR.first]; // CVBridge type + _encoding[DEPTH.first] = _encoding[COLOR.first]; // ROS message type + _unit_step_size[DEPTH.first] = _unit_step_size[COLOR.first]; // sensor_msgs::ImagePtr row step size + _depth_aligned_encoding[RS2_STREAM_COLOR] = _encoding[COLOR.first]; // ROS message type + + _width[DEPTH] = _width[COLOR]; + _height[DEPTH] = _height[COLOR]; + _image[DEPTH] = cv::Mat(std::max(0, _height[DEPTH]), std::max(0, _width[DEPTH]), _image_format[DEPTH.first], cv::Scalar(0, 0, 0)); + } + if (_pointcloud) + { + ROS_INFO("Add Filter: pointcloud"); + _pointcloud_filter = std::make_shared(_pointcloud_texture.first, _pointcloud_texture.second); + _filters.push_back(NamedFilter("pointcloud", _pointcloud_filter)); + } + ROS_INFO("num_filters: %d", static_cast(_filters.size())); +} + +cv::Mat& BaseRealSenseNode::fix_depth_scale(const cv::Mat& from_image, cv::Mat& to_image) +{ + static const float meter_to_mm = 0.001f; + if (fabs(_depth_scale_meters - meter_to_mm) < 1e-6) + { + to_image = from_image; + return to_image; + } + + if (to_image.size() != from_image.size()) + { + to_image.create(from_image.rows, from_image.cols, from_image.type()); + } + + CV_Assert(from_image.depth() == _image_format[RS2_STREAM_DEPTH]); + + int nRows = from_image.rows; + int nCols = from_image.cols; + + if (from_image.isContinuous()) + { + nCols *= nRows; + nRows = 1; + } + + int i,j; + const uint16_t* p_from; + uint16_t* p_to; + for( i = 0; i < nRows; ++i) + { + p_from = from_image.ptr(i); + p_to = to_image.ptr(i); + for ( j = 0; j < nCols; ++j) + { + p_to[j] = p_from[j] * _depth_scale_meters / meter_to_mm; + } + } + return to_image; +} + +void BaseRealSenseNode::clip_depth(rs2::depth_frame depth_frame, float clipping_dist) +{ + uint16_t* p_depth_frame = reinterpret_cast(const_cast(depth_frame.get_data())); + uint16_t clipping_value = static_cast(clipping_dist / _depth_scale_meters); + + int width = depth_frame.get_width(); + int height = depth_frame.get_height(); + + #ifdef _OPENMP + #pragma omp parallel for schedule(dynamic) //Using OpenMP to try to parallelise the loop + #endif + for (int y = 0; y < height; y++) + { + auto depth_pixel_index = y * width; + for (int x = 0; x < width; x++, ++depth_pixel_index) + { + // Check if the depth value is greater than the threashold + if (p_depth_frame[depth_pixel_index] > clipping_value) + { + p_depth_frame[depth_pixel_index] = 0; //Set to invalid (<=0) value. + } + } + } +} + +sensor_msgs::Imu BaseRealSenseNode::CreateUnitedMessage(const CimuData accel_data, const CimuData gyro_data) +{ + sensor_msgs::Imu imu_msg; + ros::Time t(gyro_data.m_time); + imu_msg.header.seq = 0; + imu_msg.header.stamp = t; + + imu_msg.angular_velocity.x = gyro_data.m_data.x(); + imu_msg.angular_velocity.y = gyro_data.m_data.y(); + imu_msg.angular_velocity.z = gyro_data.m_data.z(); + + imu_msg.linear_acceleration.x = accel_data.m_data.x(); + imu_msg.linear_acceleration.y = accel_data.m_data.y(); + imu_msg.linear_acceleration.z = accel_data.m_data.z(); + return imu_msg; +} + +template T lerp(const T &a, const T &b, const double t) { + return a * (1.0 - t) + b * t; +} + +void BaseRealSenseNode::FillImuData_LinearInterpolation(const CimuData imu_data, std::deque& imu_msgs) +{ + static std::deque _imu_history; + _imu_history.push_back(imu_data); + stream_index_pair type(imu_data.m_type); + imu_msgs.clear(); + + if ((type != ACCEL) || _imu_history.size() < 3) + return; + + std::deque gyros_data; + CimuData accel0, accel1, crnt_imu; + + while (_imu_history.size()) + { + crnt_imu = _imu_history.front(); + _imu_history.pop_front(); + if (!accel0.is_set() && crnt_imu.m_type == ACCEL) + { + accel0 = crnt_imu; + } + else if (accel0.is_set() && crnt_imu.m_type == ACCEL) + { + accel1 = crnt_imu; + const double dt = accel1.m_time - accel0.m_time; + + while (gyros_data.size()) + { + CimuData crnt_gyro = gyros_data.front(); + gyros_data.pop_front(); + const double alpha = (crnt_gyro.m_time - accel0.m_time) / dt; + CimuData crnt_accel(ACCEL, lerp(accel0.m_data, accel1.m_data, alpha), crnt_gyro.m_time); + imu_msgs.push_back(CreateUnitedMessage(crnt_accel, crnt_gyro)); + } + accel0 = accel1; + } + else if (accel0.is_set() && crnt_imu.m_time >= accel0.m_time && crnt_imu.m_type == GYRO) + { + gyros_data.push_back(crnt_imu); + } + } + _imu_history.push_back(crnt_imu); + return; +} + +void BaseRealSenseNode::FillImuData_Copy(const CimuData imu_data, std::deque& imu_msgs) +{ + stream_index_pair type(imu_data.m_type); + + static CimuData _accel_data(ACCEL, {0,0,0}, -1.0); + if (ACCEL == type) + { + _accel_data = imu_data; + return; + } + if (_accel_data.m_time < 0) + return; + + imu_msgs.push_back(CreateUnitedMessage(_accel_data, imu_data)); +} + +void BaseRealSenseNode::ImuMessage_AddDefaultValues(sensor_msgs::Imu& imu_msg) +{ + imu_msg.header.frame_id = _optical_frame_id[GYRO]; + imu_msg.orientation.x = 0.0; + imu_msg.orientation.y = 0.0; + imu_msg.orientation.z = 0.0; + imu_msg.orientation.w = 0.0; + + imu_msg.orientation_covariance = { -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; + imu_msg.linear_acceleration_covariance = { _linear_accel_cov, 0.0, 0.0, 0.0, _linear_accel_cov, 0.0, 0.0, 0.0, _linear_accel_cov}; + imu_msg.angular_velocity_covariance = { _angular_velocity_cov, 0.0, 0.0, 0.0, _angular_velocity_cov, 0.0, 0.0, 0.0, _angular_velocity_cov}; +} + +void BaseRealSenseNode::imu_callback_sync(rs2::frame frame, imu_sync_method sync_method) +{ + static std::mutex m_mutex; + static int seq = 0; + + m_mutex.lock(); + + auto stream = frame.get_profile().stream_type(); + auto stream_index = (stream == GYRO.first)?GYRO:ACCEL; + double frame_time = frame.get_timestamp(); + + bool placeholder_false(false); + if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) + { + _is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain()); + } + + seq += 1; + + if (0 != _synced_imu_publisher->getNumSubscribers()) + { + auto crnt_reading = *(reinterpret_cast(frame.get_data())); + Eigen::Vector3d v(crnt_reading.x, crnt_reading.y, crnt_reading.z); + CimuData imu_data(stream_index, v, frameSystemTimeSec(frame)); + std::deque imu_msgs; + switch (sync_method) + { + case NONE: //Cannot really be NONE. Just to avoid compilation warning. + case COPY: + FillImuData_Copy(imu_data, imu_msgs); + break; + case LINEAR_INTERPOLATION: + FillImuData_LinearInterpolation(imu_data, imu_msgs); + break; + } + while (imu_msgs.size()) + { + sensor_msgs::Imu imu_msg = imu_msgs.front(); + imu_msg.header.seq = seq; + ImuMessage_AddDefaultValues(imu_msg); + _synced_imu_publisher->Publish(imu_msg); + ROS_DEBUG("Publish united %s stream", rs2_stream_to_string(frame.get_profile().stream_type())); + imu_msgs.pop_front(); + } + } + m_mutex.unlock(); +} + +void BaseRealSenseNode::imu_callback(rs2::frame frame) +{ + auto stream = frame.get_profile().stream_type(); + double frame_time = frame.get_timestamp(); + bool placeholder_false(false); + if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) + { + _is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain()); + } + + ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s", + rs2_stream_to_string(frame.get_profile().stream_type()), + frame.get_profile().stream_index(), + rs2_timestamp_domain_to_string(frame.get_frame_timestamp_domain())); + + auto stream_index = (stream == GYRO.first)?GYRO:ACCEL; + ros::Time t(frameSystemTimeSec(frame)); + if (0 != _imu_publishers[stream_index].getNumSubscribers()) + { + auto imu_msg = sensor_msgs::Imu(); + ImuMessage_AddDefaultValues(imu_msg); + imu_msg.header.frame_id = _optical_frame_id[stream_index]; + + auto crnt_reading = *(reinterpret_cast(frame.get_data())); + if (GYRO == stream_index) + { + imu_msg.angular_velocity.x = crnt_reading.x; + imu_msg.angular_velocity.y = crnt_reading.y; + imu_msg.angular_velocity.z = crnt_reading.z; + } + else if (ACCEL == stream_index) + { + imu_msg.linear_acceleration.x = crnt_reading.x; + imu_msg.linear_acceleration.y = crnt_reading.y; + imu_msg.linear_acceleration.z = crnt_reading.z; + } + _seq[stream_index] += 1; + imu_msg.header.seq = _seq[stream_index]; + imu_msg.header.stamp = t; + _imu_publishers[stream_index].publish(imu_msg); + ROS_DEBUG("Publish %s stream", rs2_stream_to_string(frame.get_profile().stream_type())); + } + publishMetadata(frame, t, _optical_frame_id[stream_index]); +} + +void BaseRealSenseNode::pose_callback(rs2::frame frame) +{ + double frame_time = frame.get_timestamp(); + bool placeholder_false(false); + if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) + { + _is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain()); + } + + ROS_DEBUG("Frame arrived: stream: %s ; index: %d ; Timestamp Domain: %s", + rs2_stream_to_string(frame.get_profile().stream_type()), + frame.get_profile().stream_index(), + rs2_timestamp_domain_to_string(frame.get_frame_timestamp_domain())); + const auto& stream_index(POSE); + rs2_pose pose = frame.as().get_pose_data(); + ros::Time t(frameSystemTimeSec(frame)); + + geometry_msgs::PoseStamped pose_msg; + pose_msg.pose.position.x = -pose.translation.z; + pose_msg.pose.position.y = -pose.translation.x; + pose_msg.pose.position.z = pose.translation.y; + pose_msg.pose.orientation.x = -pose.rotation.z; + pose_msg.pose.orientation.y = -pose.rotation.x; + pose_msg.pose.orientation.z = pose.rotation.y; + pose_msg.pose.orientation.w = pose.rotation.w; + + static tf2_ros::TransformBroadcaster br; + geometry_msgs::TransformStamped msg; + msg.header.stamp = t; + msg.header.frame_id = _odom_frame_id; + msg.child_frame_id = _frame_id[POSE]; + msg.transform.translation.x = pose_msg.pose.position.x; + msg.transform.translation.y = pose_msg.pose.position.y; + msg.transform.translation.z = pose_msg.pose.position.z; + msg.transform.rotation.x = pose_msg.pose.orientation.x; + msg.transform.rotation.y = pose_msg.pose.orientation.y; + msg.transform.rotation.z = pose_msg.pose.orientation.z; + msg.transform.rotation.w = pose_msg.pose.orientation.w; + + if (_publish_odom_tf) br.sendTransform(msg); + + if (0 != _imu_publishers[stream_index].getNumSubscribers()) + { + double cov_pose(_linear_accel_cov * pow(10, 3-(int)pose.tracker_confidence)); + double cov_twist(_angular_velocity_cov * pow(10, 1-(int)pose.tracker_confidence)); + + geometry_msgs::Vector3Stamped v_msg; + v_msg.vector.x = -pose.velocity.z; + v_msg.vector.y = -pose.velocity.x; + v_msg.vector.z = pose.velocity.y; + tf::Vector3 tfv; + tf::vector3MsgToTF(v_msg.vector,tfv); + tf::Quaternion q(-msg.transform.rotation.x,-msg.transform.rotation.y,-msg.transform.rotation.z,msg.transform.rotation.w); + tfv=tf::quatRotate(q,tfv); + tf::vector3TFToMsg(tfv,v_msg.vector); + + geometry_msgs::Vector3Stamped om_msg; + om_msg.vector.x = -pose.angular_velocity.z; + om_msg.vector.y = -pose.angular_velocity.x; + om_msg.vector.z = pose.angular_velocity.y; + tf::vector3MsgToTF(om_msg.vector,tfv); + tfv=tf::quatRotate(q,tfv); + tf::vector3TFToMsg(tfv,om_msg.vector); + + + nav_msgs::Odometry odom_msg; + _seq[stream_index] += 1; + + odom_msg.header.frame_id = _odom_frame_id; + odom_msg.child_frame_id = _frame_id[POSE]; + odom_msg.header.stamp = t; + odom_msg.header.seq = _seq[stream_index]; + odom_msg.pose.pose = pose_msg.pose; + odom_msg.pose.covariance = {cov_pose, 0, 0, 0, 0, 0, + 0, cov_pose, 0, 0, 0, 0, + 0, 0, cov_pose, 0, 0, 0, + 0, 0, 0, cov_twist, 0, 0, + 0, 0, 0, 0, cov_twist, 0, + 0, 0, 0, 0, 0, cov_twist}; + odom_msg.twist.twist.linear = v_msg.vector; + odom_msg.twist.twist.angular = om_msg.vector; + odom_msg.twist.covariance ={cov_pose, 0, 0, 0, 0, 0, + 0, cov_pose, 0, 0, 0, 0, + 0, 0, cov_pose, 0, 0, 0, + 0, 0, 0, cov_twist, 0, 0, + 0, 0, 0, 0, cov_twist, 0, + 0, 0, 0, 0, 0, cov_twist}; + _imu_publishers[stream_index].publish(odom_msg); + ROS_DEBUG("Publish %s stream", rs2_stream_to_string(frame.get_profile().stream_type())); + } + publishMetadata(frame, t, _frame_id[POSE]); +} + +void BaseRealSenseNode::frame_callback(rs2::frame frame) +{ + _synced_imu_publisher->Pause(); + + try{ + double frame_time = frame.get_timestamp(); + + // We compute a ROS timestamp which is based on an initial ROS time at point of first frame, + // and the incremental timestamp from the camera. + // In sync mode the timestamp is based on ROS time + bool placeholder_false(false); + if (_is_initialized_time_base.compare_exchange_strong(placeholder_false, true) ) + { + _is_initialized_time_base = setBaseTime(frame_time, frame.get_frame_timestamp_domain()); + } + + ros::Time t(frameSystemTimeSec(frame)); + if (frame.is()) + { + ROS_DEBUG("Frameset arrived."); + auto frameset = frame.as(); + ROS_DEBUG("List of frameset before applying filters: size: %d", static_cast(frameset.size())); + for (auto it = frameset.begin(); it != frameset.end(); ++it) + { + auto f = (*it); + auto stream_type = f.get_profile().stream_type(); + auto stream_index = f.get_profile().stream_index(); + auto stream_format = f.get_profile().format(); + auto stream_unique_id = f.get_profile().unique_id(); + + ROS_DEBUG("Frameset contain (%s, %d, %s %d) frame. frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu", + rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), stream_unique_id, frame.get_frame_number(), frame_time, t.toNSec()); + runFirstFrameInitialization(stream_type); + } + // Clip depth_frame for max range: + rs2::depth_frame original_depth_frame = frameset.get_depth_frame(); + bool is_color_frame(frameset.get_color_frame()); + if (original_depth_frame && _clipping_distance > 0) + { + clip_depth(original_depth_frame, _clipping_distance); + } + + ROS_DEBUG("num_filters: %d", static_cast(_filters.size())); + for (std::vector::const_iterator filter_it = _filters.begin(); filter_it != _filters.end(); filter_it++) + { + ROS_DEBUG("Applying filter: %s", filter_it->_name.c_str()); + if ((filter_it->_name == "pointcloud") && (!original_depth_frame)) + continue; + if ((filter_it->_name == "align_to_color") && (!is_color_frame)) + continue; + frameset = filter_it->_filter->process(frameset); + } + + ROS_DEBUG("List of frameset after applying filters: size: %d", static_cast(frameset.size())); + bool sent_depth_frame(false); + for (auto it = frameset.begin(); it != frameset.end(); ++it) + { + auto f = (*it); + auto stream_type = f.get_profile().stream_type(); + auto stream_index = f.get_profile().stream_index(); + auto stream_format = f.get_profile().format(); + stream_index_pair sip{stream_type,stream_index}; + + ROS_DEBUG("Frameset contain (%s, %d, %s) frame. frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu", + rs2_stream_to_string(stream_type), stream_index, rs2_format_to_string(stream_format), f.get_frame_number(), frame_time, t.toNSec()); + if (f.is()) + ROS_DEBUG_STREAM("frame: " << f.as().get_width() << " x " << f.as().get_height()); + + if (f.is()) + { + publishPointCloud(f.as(), t, frameset); + continue; + } + if (stream_type == RS2_STREAM_DEPTH) + { + if (sent_depth_frame) continue; + sent_depth_frame = true; + if (_align_depth && is_color_frame) + { + publishFrame(f, t, COLOR, + _depth_aligned_image, + _depth_aligned_info_publisher, + _depth_aligned_image_publishers, + false, + _depth_aligned_seq, + _depth_aligned_camera_info, + _depth_aligned_encoding); + continue; + } + } + publishFrame(f, t, + sip, + _image, + _info_publisher, + _image_publishers, + true, + _seq, + _camera_info, + _encoding); + } + if (original_depth_frame && _align_depth) + { + rs2::frame frame_to_send; + if (_colorizer) + frame_to_send = _colorizer->process(original_depth_frame); + else + frame_to_send = original_depth_frame; + + publishFrame(frame_to_send, t, + DEPTH, + _image, + _info_publisher, + _image_publishers, + true, + _seq, + _camera_info, + _encoding); + } + } + else if (frame.is()) + { + auto stream_type = frame.get_profile().stream_type(); + auto stream_index = frame.get_profile().stream_index(); + ROS_DEBUG("Single video frame arrived (%s, %d). frame_number: %llu ; frame_TS: %f ; ros_TS(NSec): %lu", + rs2_stream_to_string(stream_type), stream_index, frame.get_frame_number(), frame_time, t.toNSec()); + runFirstFrameInitialization(stream_type); + + stream_index_pair sip{stream_type,stream_index}; + if (frame.is()) + { + if (_clipping_distance > 0) + { + clip_depth(frame, _clipping_distance); + } + } + publishFrame(frame, t, + sip, + _image, + _info_publisher, + _image_publishers, + true, + _seq, + _camera_info, + _encoding); + } + } + catch(const std::exception& ex) + { + ROS_ERROR_STREAM("An error has occurred during frame callback: " << ex.what()); + } + _synced_imu_publisher->Resume(); +} // frame_callback + +void BaseRealSenseNode::multiple_message_callback(rs2::frame frame, imu_sync_method sync_method) +{ + auto stream = frame.get_profile().stream_type(); + switch (stream) + { + case RS2_STREAM_GYRO: + case RS2_STREAM_ACCEL: + if (sync_method > imu_sync_method::NONE) imu_callback_sync(frame, sync_method); + else imu_callback(frame); + break; + case RS2_STREAM_POSE: + pose_callback(frame); + break; + default: + frame_callback(frame); + } +} + +bool BaseRealSenseNode::setBaseTime(double frame_time, rs2_timestamp_domain time_domain) +{ + ROS_WARN_ONCE(time_domain == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME ? "Frame metadata isn't available! (frame_timestamp_domain = RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)" : ""); + if (time_domain == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK) + { + ROS_WARN("frame's time domain is HARDWARE_CLOCK. Timestamps may reset periodically."); + _ros_time_base = ros::Time::now(); + _camera_time_base = frame_time; + return true; + } + return false; +} + +double BaseRealSenseNode::frameSystemTimeSec(rs2::frame frame) +{ + if (frame.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK) + { + double elapsed_camera_ms = (/*ms*/ frame.get_timestamp() - /*ms*/ _camera_time_base) / 1000.0; + return (_ros_time_base.toSec() + elapsed_camera_ms); + } + else + { + return (frame.get_timestamp() / 1000.0); + } +} + +void BaseRealSenseNode::setupStreams() +{ + ROS_INFO("setupStreams..."); + try{ + // Publish image stream info + for (auto& profiles : _enabled_profiles) + { + for (auto& profile : profiles.second) + { + if (profile.is()) + { + auto video_profile = profile.as(); + updateStreamCalibData(video_profile); + } + } + } + + // Streaming IMAGES + std::map > profiles; + std::map active_sensors; + for (const std::pair>& profile : _enabled_profiles) + { + std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME); + ROS_DEBUG_STREAM("insert " << rs2_stream_to_string(profile.second.begin()->stream_type()) + << " to " << module_name); + profiles[module_name].insert(profiles[module_name].begin(), + profile.second.begin(), + profile.second.end()); + active_sensors[module_name] = _sensors[profile.first]; + } + + for (const std::pair >& sensor_profile : profiles) + { + std::string module_name = sensor_profile.first; + rs2::sensor sensor = active_sensors[module_name]; + sensor.open(sensor_profile.second); + sensor.start(_sensors_callback[module_name]); + if (sensor.is()) + { + _depth_scale_meters = sensor.as().get_depth_scale(); + } + } + } + catch(const std::exception& ex) + { + ROS_ERROR_STREAM("An exception has been thrown: " << ex.what()); + throw; + } + catch(...) + { + ROS_ERROR_STREAM("Unknown exception has occured!"); + throw; + } +} + +void BaseRealSenseNode::updateStreamCalibData(const rs2::video_stream_profile& video_profile) +{ + stream_index_pair stream_index{video_profile.stream_type(), video_profile.stream_index()}; + auto intrinsic = video_profile.get_intrinsics(); + _stream_intrinsics[stream_index] = intrinsic; + _camera_info[stream_index].width = intrinsic.width; + _camera_info[stream_index].height = intrinsic.height; + _camera_info[stream_index].header.frame_id = _optical_frame_id[stream_index]; + + _camera_info[stream_index].K.at(0) = intrinsic.fx; + _camera_info[stream_index].K.at(2) = intrinsic.ppx; + _camera_info[stream_index].K.at(4) = intrinsic.fy; + _camera_info[stream_index].K.at(5) = intrinsic.ppy; + _camera_info[stream_index].K.at(8) = 1; + + _camera_info[stream_index].P.at(0) = _camera_info[stream_index].K.at(0); + _camera_info[stream_index].P.at(1) = 0; + _camera_info[stream_index].P.at(2) = _camera_info[stream_index].K.at(2); + _camera_info[stream_index].P.at(3) = 0; + _camera_info[stream_index].P.at(4) = 0; + _camera_info[stream_index].P.at(5) = _camera_info[stream_index].K.at(4); + _camera_info[stream_index].P.at(6) = _camera_info[stream_index].K.at(5); + _camera_info[stream_index].P.at(7) = 0; + _camera_info[stream_index].P.at(8) = 0; + _camera_info[stream_index].P.at(9) = 0; + _camera_info[stream_index].P.at(10) = 1; + _camera_info[stream_index].P.at(11) = 0; + + // Set Tx, Ty for right camera + if (stream_index.second == 2) + { + stream_index_pair sip1{stream_index.first, 1}; + if (_enable[sip1]) + { + const auto& ex = getAProfile(stream_index).get_extrinsics_to(getAProfile(sip1)); + _camera_info[stream_index].header.frame_id = _optical_frame_id[sip1]; + _camera_info[stream_index].P.at(3) = -intrinsic.fx * ex.translation[0] + 0.0; // Tx - avoid -0.0 values. + _camera_info[stream_index].P.at(7) = -intrinsic.fy * ex.translation[1] + 0.0; // Ty - avoid -0.0 values. + } + } + + // set R (rotation matrix) values to identity matrix + _camera_info[stream_index].R.at(0) = 1.0; + _camera_info[stream_index].R.at(1) = 0.0; + _camera_info[stream_index].R.at(2) = 0.0; + _camera_info[stream_index].R.at(3) = 0.0; + _camera_info[stream_index].R.at(4) = 1.0; + _camera_info[stream_index].R.at(5) = 0.0; + _camera_info[stream_index].R.at(6) = 0.0; + _camera_info[stream_index].R.at(7) = 0.0; + _camera_info[stream_index].R.at(8) = 1.0; + + int coeff_size(5); + if (intrinsic.model == RS2_DISTORTION_KANNALA_BRANDT4) + { + _camera_info[stream_index].distortion_model = "equidistant"; + coeff_size = 4; + } else { + _camera_info[stream_index].distortion_model = "plumb_bob"; + } + _camera_info[stream_index].D.resize(coeff_size); + for (int i = 0; i < coeff_size; i++) + { + _camera_info[stream_index].D.at(i) = intrinsic.coeffs[i]; + } + + if (stream_index == DEPTH && _enable[DEPTH] && _enable[COLOR]) + { + _camera_info[stream_index].P.at(3) = 0; // Tx + _camera_info[stream_index].P.at(7) = 0; // Ty + } + + if (_align_depth) + { + for (auto& profiles : _enabled_profiles) + { + for (auto& profile : profiles.second) + { + auto video_profile = profile.as(); + stream_index_pair stream_index{video_profile.stream_type(), video_profile.stream_index()}; + _depth_aligned_camera_info[stream_index] = _camera_info[stream_index]; + } + } + } +} + +tf::Quaternion BaseRealSenseNode::rotationMatrixToQuaternion(const float rotation[9]) const +{ + Eigen::Matrix3f m; + // We need to be careful about the order, as RS2 rotation matrix is + // column-major, while Eigen::Matrix3f expects row-major. + m << rotation[0], rotation[3], rotation[6], + rotation[1], rotation[4], rotation[7], + rotation[2], rotation[5], rotation[8]; + Eigen::Quaternionf q(m); + return tf::Quaternion(q.x(), q.y(), q.z(), q.w()); +} + +void BaseRealSenseNode::publish_static_tf(const ros::Time& t, + const float3& trans, + const tf::Quaternion& q, + const std::string& from, + const std::string& to) +{ + geometry_msgs::TransformStamped msg; + msg.header.stamp = t; + msg.header.frame_id = from; + msg.child_frame_id = to; + msg.transform.translation.x = trans.z; + msg.transform.translation.y = -trans.x; + msg.transform.translation.z = -trans.y; + msg.transform.rotation.x = q.getX(); + msg.transform.rotation.y = q.getY(); + msg.transform.rotation.z = q.getZ(); + msg.transform.rotation.w = q.getW(); + _static_tf_msgs.push_back(msg); +} + +void BaseRealSenseNode::calcAndPublishStaticTransform(const stream_index_pair& stream, const rs2::stream_profile& base_profile) +{ + // Transform base to stream + tf::Quaternion quaternion_optical; + quaternion_optical.setRPY(-M_PI / 2, 0.0, -M_PI / 2); + float3 zero_trans{0, 0, 0}; + + ros::Time transform_ts_ = ros::Time::now(); + + rs2_extrinsics ex; + try + { + ex = getAProfile(stream).get_extrinsics_to(base_profile); + } + catch (std::exception& e) + { + if (!strcmp(e.what(), "Requested extrinsics are not available!")) + { + ROS_WARN_STREAM("(" << rs2_stream_to_string(stream.first) << ", " << stream.second << ") -> (" << rs2_stream_to_string(base_profile.stream_type()) << ", " << base_profile.stream_index() << "): " << e.what() << " : using unity as default."); + ex = rs2_extrinsics({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0,0,0}}); + } + else + { + throw e; + } + } + + auto Q = rotationMatrixToQuaternion(ex.rotation); + Q = quaternion_optical * Q * quaternion_optical.inverse(); + + float3 trans{ex.translation[0], ex.translation[1], ex.translation[2]}; + publish_static_tf(transform_ts_, trans, Q, _base_frame_id, _frame_id[stream]); + + // Transform stream frame to stream optical frame + publish_static_tf(transform_ts_, zero_trans, quaternion_optical, _frame_id[stream], _optical_frame_id[stream]); + + if (_align_depth && _depth_aligned_frame_id.find(stream) != _depth_aligned_frame_id.end()) + { + publish_static_tf(transform_ts_, trans, Q, _base_frame_id, _depth_aligned_frame_id[stream]); + publish_static_tf(transform_ts_, zero_trans, quaternion_optical, _depth_aligned_frame_id[stream], _optical_frame_id[stream]); + } +} + +void BaseRealSenseNode::SetBaseStream() +{ + const std::vector base_stream_priority = {DEPTH, POSE}; + + std::vector::const_iterator base_stream(base_stream_priority.begin()); + while( (_sensors.find(*base_stream) == _sensors.end()) && (base_stream != base_stream_priority.end())) + { + base_stream++; + } + if (base_stream == base_stream_priority.end()) + { + throw std::runtime_error("No known base_stream found for transformations."); + } + ROS_INFO_STREAM("SELECTED BASE:" << base_stream->first << ", " << base_stream->second); + + _base_stream = *base_stream; +} + +void BaseRealSenseNode::publishStaticTransforms() +{ + rs2::stream_profile base_profile = getAProfile(_base_stream); + // Publish static transforms + if (_publish_tf) + { + for (std::pair ienable : _enable) + { + if (ienable.second) + { + calcAndPublishStaticTransform(ienable.first, base_profile); + } + } + // Static transform for non-positive values + if (_tf_publish_rate > 0) + _tf_t = std::shared_ptr(new std::thread(boost::bind(&BaseRealSenseNode::publishDynamicTransforms, this))); + else + _static_tf_broadcaster.sendTransform(_static_tf_msgs); + } + + // Publish Extrinsics Topics: + if (_enable[DEPTH] && + _enable[FISHEYE]) + { + static const char* frame_id = "depth_to_fisheye_extrinsics"; + const auto& ex = base_profile.get_extrinsics_to(getAProfile(FISHEYE)); + + _depth_to_other_extrinsics[FISHEYE] = ex; + _depth_to_other_extrinsics_publishers[FISHEYE].publish(rsExtrinsicsToMsg(ex, frame_id)); + } + + if (_enable[DEPTH] && + _enable[COLOR]) + { + static const char* frame_id = "depth_to_color_extrinsics"; + const auto& ex = base_profile.get_extrinsics_to(getAProfile(COLOR)); + _depth_to_other_extrinsics[COLOR] = ex; + _depth_to_other_extrinsics_publishers[COLOR].publish(rsExtrinsicsToMsg(ex, frame_id)); + } + + if (_enable[DEPTH] && + _enable[INFRA1]) + { + static const char* frame_id = "depth_to_infra1_extrinsics"; + const auto& ex = base_profile.get_extrinsics_to(getAProfile(INFRA1)); + _depth_to_other_extrinsics[INFRA1] = ex; + _depth_to_other_extrinsics_publishers[INFRA1].publish(rsExtrinsicsToMsg(ex, frame_id)); + } + + if (_enable[DEPTH] && + _enable[INFRA2]) + { + static const char* frame_id = "depth_to_infra2_extrinsics"; + const auto& ex = base_profile.get_extrinsics_to(getAProfile(INFRA2)); + _depth_to_other_extrinsics[INFRA2] = ex; + _depth_to_other_extrinsics_publishers[INFRA2].publish(rsExtrinsicsToMsg(ex, frame_id)); + } + +} + +void BaseRealSenseNode::publishDynamicTransforms() +{ + // Publish transforms for the cameras + ROS_WARN("Publishing dynamic camera transforms (/tf) at %g Hz", _tf_publish_rate); + + std::mutex mu; + std::unique_lock lock(mu); + while (ros::ok() && _is_running) + { + _cv_tf.wait_for(lock, std::chrono::milliseconds((int)(1000.0/_tf_publish_rate)), [&]{return (!(_is_running));}); + { + ros::Time t = ros::Time::now(); + for(auto& msg : _static_tf_msgs) + msg.header.stamp = t; + _dynamic_tf_broadcaster.sendTransform(_static_tf_msgs); + } + } +} + +void BaseRealSenseNode::publishIntrinsics() +{ + if (_enable[GYRO]) + { + _info_publisher[GYRO] = _node_handle.advertise("gyro/imu_info", 1, true); + IMUInfo info_msg = getImuInfo(GYRO); + _info_publisher[GYRO].publish(info_msg); + } + + if (_enable[ACCEL]) + { + _info_publisher[ACCEL] = _node_handle.advertise("accel/imu_info", 1, true); + IMUInfo info_msg = getImuInfo(ACCEL); + _info_publisher[ACCEL].publish(info_msg); + } +} + +void reverse_memcpy(unsigned char* dst, const unsigned char* src, size_t n) +{ + size_t i; + + for (i=0; i < n; ++i) + dst[n-1-i] = src[i]; + +} + +void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, const rs2::frameset& frameset) +{ + if (0 == _pointcloud_publisher.getNumSubscribers()) + return; + ROS_INFO_STREAM_ONCE("publishing " << (_ordered_pc ? "" : "un") << "ordered pointcloud."); + + rs2_stream texture_source_id = static_cast(_pointcloud_filter->get_option(rs2_option::RS2_OPTION_STREAM_FILTER)); + bool use_texture = texture_source_id != RS2_STREAM_ANY; + static int warn_count(0); + static const int DISPLAY_WARN_NUMBER(5); + rs2::frameset::iterator texture_frame_itr = frameset.end(); + if (use_texture) + { + std::set available_formats{ rs2_format::RS2_FORMAT_RGB8, rs2_format::RS2_FORMAT_Y8 }; + + texture_frame_itr = std::find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f) + {return (rs2_stream(f.get_profile().stream_type()) == texture_source_id) && + (available_formats.find(f.get_profile().format()) != available_formats.end()); }); + if (texture_frame_itr == frameset.end()) + { + warn_count++; + std::string texture_source_name = _pointcloud_filter->get_option_value_description(rs2_option::RS2_OPTION_STREAM_FILTER, static_cast(texture_source_id)); + ROS_WARN_STREAM_COND(warn_count == DISPLAY_WARN_NUMBER, "No stream match for pointcloud chosen texture " << texture_source_name); + return; + } + warn_count = 0; + } + + int texture_width(0), texture_height(0); + int num_colors(0); + + const rs2::vertex* vertex = pc.get_vertices(); + const rs2::texture_coordinate* color_point = pc.get_texture_coordinates(); + + rs2_intrinsics depth_intrin = pc.get_profile().as().get_intrinsics(); + + sensor_msgs::PointCloud2Modifier modifier(_msg_pointcloud); + modifier.setPointCloud2FieldsByString(1, "xyz"); + modifier.resize(pc.size()); + if (_ordered_pc) + { + _msg_pointcloud.width = depth_intrin.width; + _msg_pointcloud.height = depth_intrin.height; + _msg_pointcloud.is_dense = false; + } + + vertex = pc.get_vertices(); + size_t valid_count(0); + if (use_texture) + { + rs2::video_frame texture_frame = (*texture_frame_itr).as(); + texture_width = texture_frame.get_width(); + texture_height = texture_frame.get_height(); + num_colors = texture_frame.get_bytes_per_pixel(); + uint8_t* color_data = (uint8_t*)texture_frame.get_data(); + std::string format_str; + switch(texture_frame.get_profile().format()) + { + case RS2_FORMAT_RGB8: + format_str = "rgb"; + break; + case RS2_FORMAT_Y8: + format_str = "intensity"; + break; + default: + throw std::runtime_error("Unhandled texture format passed in pointcloud " + std::to_string(texture_frame.get_profile().format())); + } + _msg_pointcloud.point_step = addPointField(_msg_pointcloud, format_str.c_str(), 1, sensor_msgs::PointField::FLOAT32, _msg_pointcloud.point_step); + _msg_pointcloud.row_step = _msg_pointcloud.width * _msg_pointcloud.point_step; + _msg_pointcloud.data.resize(_msg_pointcloud.height * _msg_pointcloud.row_step); + + sensor_msgs::PointCloud2Iteratoriter_x(_msg_pointcloud, "x"); + sensor_msgs::PointCloud2Iteratoriter_y(_msg_pointcloud, "y"); + sensor_msgs::PointCloud2Iteratoriter_z(_msg_pointcloud, "z"); + sensor_msgs::PointCloud2Iteratoriter_color(_msg_pointcloud, format_str); + color_point = pc.get_texture_coordinates(); + + float color_pixel[2]; + for (size_t point_idx=0; point_idx < pc.size(); point_idx++, vertex++, color_point++) + { + float i(color_point->u); + float j(color_point->v); + bool valid_color_pixel(i >= 0.f && i <=1.f && j >= 0.f && j <=1.f); + bool valid_pixel(vertex->z > 0 && (valid_color_pixel || _allow_no_texture_points)); + if (valid_pixel || _ordered_pc) + { + *iter_x = vertex->x; + *iter_y = vertex->y; + *iter_z = vertex->z; + + if (valid_color_pixel) + { + color_pixel[0] = i * texture_width; + color_pixel[1] = j * texture_height; + int pixx = static_cast(color_pixel[0]); + int pixy = static_cast(color_pixel[1]); + int offset = (pixy * texture_width + pixx) * num_colors; + reverse_memcpy(&(*iter_color), color_data+offset, num_colors); // PointCloud2 order of rgb is bgr. + } + ++iter_x; ++iter_y; ++iter_z; + ++iter_color; + ++valid_count; + } + } + } + else + { + std::string format_str = "intensity"; + _msg_pointcloud.row_step = _msg_pointcloud.width * _msg_pointcloud.point_step; + _msg_pointcloud.data.resize(_msg_pointcloud.height * _msg_pointcloud.row_step); + + sensor_msgs::PointCloud2Iteratoriter_x(_msg_pointcloud, "x"); + sensor_msgs::PointCloud2Iteratoriter_y(_msg_pointcloud, "y"); + sensor_msgs::PointCloud2Iteratoriter_z(_msg_pointcloud, "z"); + + for (size_t point_idx=0; point_idx < pc.size(); point_idx++, vertex++) + { + bool valid_pixel(vertex->z > 0); + if (valid_pixel || _ordered_pc) + { + *iter_x = vertex->x; + *iter_y = vertex->y; + *iter_z = vertex->z; + + ++iter_x; ++iter_y; ++iter_z; + ++valid_count; + } + } + } + _msg_pointcloud.header.stamp = t; + if (_align_depth) _msg_pointcloud.header.frame_id = _optical_frame_id[COLOR]; + else _msg_pointcloud.header.frame_id = _optical_frame_id[DEPTH]; + if (!_ordered_pc) + { + _msg_pointcloud.width = valid_count; + _msg_pointcloud.height = 1; + _msg_pointcloud.is_dense = true; + modifier.resize(valid_count); + } + _pointcloud_publisher.publish(_msg_pointcloud); +} + + +Extrinsics BaseRealSenseNode::rsExtrinsicsToMsg(const rs2_extrinsics& extrinsics, const std::string& frame_id) const +{ + Extrinsics extrinsicsMsg; + for (int i = 0; i < 9; ++i) + { + extrinsicsMsg.rotation[i] = extrinsics.rotation[i]; + if (i < 3) + extrinsicsMsg.translation[i] = extrinsics.translation[i]; + } + + extrinsicsMsg.header.frame_id = frame_id; + return extrinsicsMsg; +} + +rs2::stream_profile BaseRealSenseNode::getAProfile(const stream_index_pair& stream) +{ + const std::vector profiles = _sensors[stream].get_stream_profiles(); + return *(std::find_if(profiles.begin(), profiles.end(), + [&stream] (const rs2::stream_profile& profile) { + return ((profile.stream_type() == stream.first) && (profile.stream_index() == stream.second)); + })); +} + +IMUInfo BaseRealSenseNode::getImuInfo(const stream_index_pair& stream_index) +{ + IMUInfo info{}; + auto sp = _enabled_profiles[stream_index].front().as(); + rs2_motion_device_intrinsic imuIntrinsics; + try + { + imuIntrinsics = sp.get_motion_intrinsics(); + } + catch(const std::runtime_error &ex) + { + ROS_DEBUG_STREAM("No Motion Intrinsics available."); + imuIntrinsics = {{{1,0,0,0},{0,1,0,0},{0,0,1,0}}, {0,0,0}, {0,0,0}}; + } + + auto index = 0; + info.frame_id = _optical_frame_id[stream_index]; + for (int i = 0; i < 3; ++i) + { + for (int j = 0; j < 4; ++j) + { + info.data[index] = imuIntrinsics.data[i][j]; + ++index; + } + info.noise_variances[i] = imuIntrinsics.noise_variances[i]; + info.bias_variances[i] = imuIntrinsics.bias_variances[i]; + } + return info; +} + +void BaseRealSenseNode::publishFrame(rs2::frame f, const ros::Time& t, + const stream_index_pair& stream, + std::map& images, + const std::map& info_publishers, + const std::map& image_publishers, + const bool is_publishMetadata, + std::map& seq, + std::map& camera_info, + const std::map& encoding, + bool copy_data_from_frame) +{ + ROS_DEBUG("publishFrame(...)"); + unsigned int width = 0; + unsigned int height = 0; + auto bpp = 1; + if (f.is()) + { + auto image = f.as(); + width = image.get_width(); + height = image.get_height(); + bpp = image.get_bytes_per_pixel(); + } + auto& image = images[stream]; + + if (copy_data_from_frame) + { + if (images[stream].size() != cv::Size(width, height)) + { + image.create(height, width, image.type()); + } + image.data = (uint8_t*)f.get_data(); + } + if (f.is()) + { + image = fix_depth_scale(image, _depth_scaled_image[stream]); + } + + ++(seq[stream]); + auto& info_publisher = info_publishers.at(stream); + auto& image_publisher = image_publishers.at(stream); + + image_publisher.second->tick(); + if(0 != info_publisher.getNumSubscribers() || + 0 != image_publisher.first.getNumSubscribers()) + { + auto& cam_info = camera_info.at(stream); + if (cam_info.width != width) + { + updateStreamCalibData(f.get_profile().as()); + } + cam_info.header.stamp = t; + cam_info.header.seq = seq[stream]; + info_publisher.publish(cam_info); + + sensor_msgs::ImagePtr img; + img = cv_bridge::CvImage(std_msgs::Header(), encoding.at(stream.first), image).toImageMsg(); + img->width = width; + img->height = height; + img->is_bigendian = false; + img->step = width * bpp; + img->header.frame_id = cam_info.header.frame_id; + img->header.stamp = t; + img->header.seq = seq[stream]; + + image_publisher.first.publish(img); + ROS_DEBUG("%s stream published", rs2_stream_to_string(f.get_profile().stream_type())); + } + if (is_publishMetadata) + { + auto& cam_info = camera_info.at(stream); + publishMetadata(f, t, cam_info.header.frame_id); + } +} + +void BaseRealSenseNode::publishMetadata(rs2::frame f, const ros::Time& header_time, const std::string& frame_id) +{ + stream_index_pair stream = {f.get_profile().stream_type(), f.get_profile().stream_index()}; + if (_metadata_publishers.find(stream) != _metadata_publishers.end()) + { + auto& md_publisher = _metadata_publishers.at(stream); + if (0 != md_publisher->getNumSubscribers()) + { + realsense2_camera::Metadata msg; + msg.header.frame_id = frame_id; + msg.header.stamp = header_time; + std::stringstream json_data; + const char* separator = ","; + json_data << "{"; + // Add additional fields: + json_data << "\"" << "frame_number" << "\":" << f.get_frame_number(); + json_data << separator << "\"" << "clock_domain" << "\":" << "\"" << create_graph_resource_name(rs2_timestamp_domain_to_string(f.get_frame_timestamp_domain())) << "\""; + json_data << separator << "\"" << "frame_timestamp" << "\":" << std::fixed << f.get_timestamp(); + + for (auto i = 0; i < RS2_FRAME_METADATA_COUNT; i++) + { + if (f.supports_frame_metadata((rs2_frame_metadata_value)i)) + { + rs2_frame_metadata_value mparam = (rs2_frame_metadata_value)i; + std::string name = create_graph_resource_name(rs2_frame_metadata_to_string(mparam)); + if (RS2_FRAME_METADATA_FRAME_TIMESTAMP == i) + { + name = "hw_timestamp"; + } + rs2_metadata_type val = f.get_frame_metadata(mparam); + json_data << separator << "\"" << name << "\":" << val; + } + } + json_data << "}"; + msg.json_data = json_data.str(); + md_publisher->publish(msg); + } + } +} + +bool BaseRealSenseNode::getEnabledProfile(const stream_index_pair& stream_index, rs2::stream_profile& profile) +{ + // Assuming that all D400 SKUs have depth sensor + auto profiles = _enabled_profiles[stream_index]; + auto it = std::find_if(profiles.begin(), profiles.end(), + [&](const rs2::stream_profile& profile) + { return (profile.stream_type() == stream_index.first); }); + if (it == profiles.end()) + return false; + + profile = *it; + return true; +} + +void BaseRealSenseNode::startMonitoring() +{ + for (rs2_option option : _monitor_options) + { + _temperature_nodes.push_back({option, std::make_shared(rs2_option_to_string(option), _serial_no )}); + } + + int time_interval(1000); + std::function func = [this, time_interval](){ + std::mutex mu; + std::unique_lock lock(mu); + while(_is_running) { + _cv_monitoring.wait_for(lock, std::chrono::milliseconds(time_interval), [&]{return !_is_running;}); + if (_is_running) + { + publish_temperature(); + publish_frequency_update(); + } + } + }; + _monitoring_t = std::make_shared(func); +} + +void BaseRealSenseNode::publish_temperature() +{ + rs2::options sensor(_sensors[_base_stream]); + for (OptionTemperatureDiag option_diag : _temperature_nodes) + { + rs2_option option(option_diag.first); + if (sensor.supports(option)) + { + try + { + auto option_value = sensor.get_option(option); + option_diag.second->update(option_value); + } + catch(const std::exception& e) + { + ROS_DEBUG_STREAM("Failed checking for temperature." << std::endl << e.what()); + } + } + } +} + +void BaseRealSenseNode::publish_frequency_update() +{ + std::chrono::milliseconds timespan(1); + for (auto &image_publisher : _image_publishers) + { + image_publisher.second.second->update(); + std::this_thread::sleep_for(timespan); + } +} + +TemperatureDiagnostics::TemperatureDiagnostics(std::string name, std::string serial_no) + { + _updater.add(name, this, &TemperatureDiagnostics::diagnostics); + _updater.setHardwareID(serial_no); + } + +void TemperatureDiagnostics::diagnostics(diagnostic_updater::DiagnosticStatusWrapper& status) +{ + status.summary(0, "OK"); + status.add("Index", _crnt_temp); +} + +void BaseRealSenseNode::publishServices() +{ + _device_info_srv = std::make_shared(_pnh.advertiseService("device_info", &BaseRealSenseNode::getDeviceInfo, this)); +} + +bool BaseRealSenseNode::getDeviceInfo(realsense2_camera::DeviceInfo::Request&, + realsense2_camera::DeviceInfo::Response& res) +{ + res.device_name = _dev.supports(RS2_CAMERA_INFO_NAME) ? create_graph_resource_name(_dev.get_info(RS2_CAMERA_INFO_NAME)) : ""; + res.serial_number = _dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER) ? _dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) : ""; + res.firmware_version = _dev.supports(RS2_CAMERA_INFO_FIRMWARE_VERSION) ? _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION) : ""; + res.usb_type_descriptor = _dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR) ? _dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR) : ""; + res.firmware_update_id = _dev.supports(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID) ? _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID) : ""; + + std::stringstream sensors_names; + for(auto&& sensor : _dev_sensors) + { + sensors_names << create_graph_resource_name(sensor.get_info(RS2_CAMERA_INFO_NAME)) << ","; + } + + res.sensors = sensors_names.str().substr(0, sensors_names.str().size()-1); + return true; +} diff --git a/realsense_utils/realsense2_camera/src/realsense_node_factory.cpp b/realsense_utils/realsense2_camera/src/realsense_node_factory.cpp new file mode 100644 index 00000000..282662a3 --- /dev/null +++ b/realsense_utils/realsense2_camera/src/realsense_node_factory.cpp @@ -0,0 +1,450 @@ +// License: Apache 2.0. See LICENSE file in root directory. +// Copyright(c) 2017 Intel Corporation. All Rights Reserved + +#include "realsense2_camera/realsense_node_factory.h" +#include "realsense2_camera/base_realsense_node.h" +#include "realsense2_camera/t265_realsense_node.h" +#include +#include +#include +#include +#include +#include +#include + +using namespace realsense2_camera; + +#define REALSENSE_ROS_EMBEDDED_VERSION_STR (VAR_ARG_STRING(VERSION: REALSENSE_ROS_MAJOR_VERSION.REALSENSE_ROS_MINOR_VERSION.REALSENSE_ROS_PATCH_VERSION)) +constexpr auto realsense_ros_camera_version = REALSENSE_ROS_EMBEDDED_VERSION_STR; + +PLUGINLIB_EXPORT_CLASS(realsense2_camera::RealSenseNodeFactory, nodelet::Nodelet) + +std::string api_version_to_string(int version) +{ + std::ostringstream ss; + if (version / 10000 == 0) + ss << version; + else + ss << (version / 10000) << "." << (version % 10000) / 100 << "." << (version % 100); + return ss.str(); +} + +RealSenseNodeFactory::RealSenseNodeFactory(): + _is_alive(true) +{ + rs2_error* e = nullptr; + std::string running_librealsense_version(api_version_to_string(rs2_get_api_version(&e))); + ROS_INFO("RealSense ROS v%s", REALSENSE_ROS_VERSION_STR); + ROS_INFO("Built with LibRealSense v%s", RS2_API_VERSION_STR); + ROS_INFO_STREAM("Running with LibRealSense v" << running_librealsense_version); + if (RS2_API_VERSION_STR != running_librealsense_version) + { + ROS_WARN("***************************************************"); + ROS_WARN("** running with a different librealsense version **"); + ROS_WARN("** than the one the wrapper was compiled with! **"); + ROS_WARN("***************************************************"); + } + + auto severity = rs2_log_severity::RS2_LOG_SEVERITY_WARN; + tryGetLogSeverity(severity); + if (rs2_log_severity::RS2_LOG_SEVERITY_DEBUG == severity) + ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug); + + rs2::log_to_console(severity); +} + +RealSenseNodeFactory::~RealSenseNodeFactory() +{ + _is_alive = false; + if (_query_thread.joinable()) + { + _query_thread.join(); + } +} + +std::string RealSenseNodeFactory::parse_usb_port(std::string line) +{ + std::string port_id; + std::regex self_regex("(?:[^ ]+/usb[0-9]+[0-9./-]*/){0,1}([0-9.-]+)(:){0,1}[^ ]*", std::regex_constants::ECMAScript); + std::smatch base_match; + bool found = std::regex_match(line, base_match, self_regex); + if (found) + { + port_id = base_match[1].str(); + if (base_match[2].str().size() == 0) //This is libuvc string. Remove counter is exists. + { + std::regex end_regex = std::regex(".+(-[0-9]+$)", std::regex_constants::ECMAScript); + bool found_end = std::regex_match(port_id, base_match, end_regex); + if (found_end) + { + port_id = port_id.substr(0, port_id.size() - base_match[1].str().size()); + } + } + } + return port_id; +} + +void RealSenseNodeFactory::getDevice(rs2::device_list list) +{ + if (!_device) + { + if (0 == list.size()) + { + ROS_WARN("No RealSense devices were found!"); + } + else + { + bool found = false; + ROS_INFO_STREAM(" "); + for (size_t count = 0; count < list.size(); count++) + { + rs2::device dev; + try + { + dev = list[count]; + } + catch(const std::exception& ex) + { + ROS_WARN_STREAM("Device " << count+1 << "/" << list.size() << " failed with exception: " << ex.what()); + continue; + } + auto sn = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER); + ROS_INFO_STREAM("Device with serial number " << sn << " was found."< results; + ROS_INFO_STREAM("Device with name " << name << " was found."); + std::string port_id = parse_usb_port(pn); + if (port_id.empty()) + { + std::stringstream msg; + msg << "Error extracting usb port from device with physical ID: " << pn << std::endl << "Please report on github issue at https://github.com/IntelRealSense/realsense-ros"; + if (_usb_port_id.empty()) + { + ROS_WARN_STREAM(msg.str()); + } + else + { + ROS_ERROR_STREAM(msg.str()); + ROS_ERROR_STREAM("Please use serial number instead of usb port."); + } + } + else + { + ROS_INFO_STREAM("Device with port number " << port_id << " was found."); + } + bool found_device_type(true); + if (!_device_type.empty()) + { + std::smatch match_results; + std::regex device_type_regex(_device_type.c_str(), std::regex::icase); + found_device_type = std::regex_search(name, match_results, device_type_regex); + } + + if ((_serial_no.empty() || sn == _serial_no) && (_usb_port_id.empty() || port_id == _usb_port_id) && found_device_type) + { + _device = dev; + _serial_no = sn; + found = true; + break; + } + } + if (!found) + { + // T265 could be caught by another node. + std::string msg ("The requested device with "); + bool add_and(false); + if (!_serial_no.empty()) + { + msg += "serial number " + _serial_no; + add_and = true; + } + if (!_usb_port_id.empty()) + { + if (add_and) + { + msg += " and "; + } + msg += "usb port id " + _usb_port_id; + add_and = true; + } + if (!_device_type.empty()) + { + if (add_and) + { + msg += " and "; + } + msg += "device name containing " + _device_type; + } + msg += " is NOT found. Will Try again."; + ROS_ERROR_STREAM(msg); + } + else + { + if (_device.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR)) + { + std::string usb_type = _device.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR); + ROS_INFO_STREAM("Device USB type: " << usb_type); + if (usb_type.find("2.") != std::string::npos) + { + ROS_WARN_STREAM("Device " << _serial_no << " is connected using a " << usb_type << " port. Reduced performance is expected."); + } + } + } + } + } + + bool remove_tm2_handle(_device && RS_T265_PID != std::stoi(_device.get_info(RS2_CAMERA_INFO_PRODUCT_ID), 0, 16)); + if (remove_tm2_handle) + { + _ctx.unload_tracking_module(); + } + + if (_device && _initial_reset) + { + _initial_reset = false; + try + { + ROS_INFO("Resetting device..."); + _device.hardware_reset(); + _device = rs2::device(); + } + catch(const std::exception& ex) + { + ROS_WARN_STREAM("An exception has been thrown: " << ex.what()); + } + } +} + +void RealSenseNodeFactory::change_device_callback(rs2::event_information& info) +{ + if (info.was_removed(_device)) + { + ROS_ERROR("The device has been disconnected!"); + reset(); + } +} + +bool RealSenseNodeFactory::toggle_sensor_callback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res) +{ + if (req.data) + ROS_INFO_STREAM("toggling sensor : ON"); + else + ROS_INFO_STREAM("toggling sensor : OFF"); + _realSenseNode->toggleSensors(req.data); + res.success=true; + return true; +} + +void RealSenseNodeFactory::onInit() +{ + auto nh = getNodeHandle(); + _init_timer = nh.createWallTimer(ros::WallDuration(0.01), &RealSenseNodeFactory::initialize, this, true); +} + +void RealSenseNodeFactory::initialize(const ros::WallTimerEvent &ignored) +{ + _device = rs2::device(); + try + { +#ifdef BPDEBUG + std::cout << "Attach to Process: " << getpid() << std::endl; + std::cout << "Press key to continue." << std::endl; + std::cin.get(); +#endif + ros::NodeHandle nh = getNodeHandle(); + auto privateNh = getPrivateNodeHandle(); + privateNh.param("serial_no", _serial_no, std::string("")); + privateNh.param("usb_port_id", _usb_port_id, std::string("")); + privateNh.param("device_type", _device_type, std::string("")); + + if (!toggle_sensor_srv) + { + toggle_sensor_srv = nh.advertiseService("enable", &RealSenseNodeFactory::toggle_sensor_callback, this); + } + std::string rosbag_filename(""); + privateNh.param("rosbag_filename", rosbag_filename, std::string("")); + + if (!rosbag_filename.empty()) + { + { + ROS_INFO_STREAM("publish topics from rosbag file: " << rosbag_filename.c_str()); + auto pipe = std::make_shared(); + rs2::config cfg; + cfg.enable_device_from_file(rosbag_filename.c_str(), false); + cfg.enable_all_streams(); + pipe->start(cfg); //File will be opened in read mode at this point + _device = pipe->get_active_profile().get_device(); + _serial_no = _device.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER); + } + if (_device) + { + StartDevice(); + } + } + else + { + privateNh.param("initial_reset", _initial_reset, false); + + _is_alive = true; + _query_thread = std::thread([=]() + { + double reconnect_timeout; + privateNh.param("reconnect_timeout", reconnect_timeout, 6.0); + double wait_for_device_timeout; + privateNh.param("wait_for_device_timeout", wait_for_device_timeout, -1.0); + std::chrono::milliseconds timespan(static_cast(reconnect_timeout*1e3)); + ros::Time first_try_time = ros::Time::now(); + while (_is_alive && !_device) + { + getDevice(_ctx.query_devices()); + if (_device) + { + std::function change_device_callback_function = [this](rs2::event_information& info){change_device_callback(info);}; + _ctx.set_devices_changed_callback(change_device_callback_function); + StartDevice(); + } + else + { + std::chrono::milliseconds actual_timespan(timespan); + if (wait_for_device_timeout > 0) + { + auto time_to_timeout(wait_for_device_timeout - (ros::Time::now() - first_try_time).toSec()); + if (time_to_timeout < 0) + { + ROS_ERROR_STREAM("wait for device timeout of " << wait_for_device_timeout << " secs expired"); + exit(1); + } + else + { + double max_timespan_secs(std::chrono::duration_cast(timespan).count()); + actual_timespan = std::chrono::milliseconds (static_cast(std::min(max_timespan_secs, time_to_timeout) * 1e3)); + } + } + std::this_thread::sleep_for(actual_timespan); + } + } + }); + if (!_reset_srv) + { + _reset_srv = privateNh.advertiseService("reset", &RealSenseNodeFactory::handleReset, this); + } + } + } + catch(const std::exception& ex) + { + ROS_ERROR_STREAM("An exception has been thrown: " << ex.what()); + exit(1); + } + catch(...) + { + ROS_ERROR_STREAM("Unknown exception has occured!"); + exit(1); + } +} + +void RealSenseNodeFactory::StartDevice() +{ + if (_realSenseNode) _realSenseNode.reset(); + try + { + ros::NodeHandle nh = getNodeHandle(); + ros::NodeHandle privateNh = getPrivateNodeHandle(); + // TODO + std::string pid_str(_device.get_info(RS2_CAMERA_INFO_PRODUCT_ID)); + uint16_t pid = std::stoi(pid_str, 0, 16); + switch(pid) + { + case SR300_PID: + case SR300v2_PID: + case RS400_PID: + case RS405_PID: + case RS410_PID: + case RS460_PID: + case RS415_PID: + case RS420_PID: + case RS420_MM_PID: + case RS430_PID: + case RS430_MM_PID: + case RS430_MM_RGB_PID: + case RS435_RGB_PID: + case RS435i_RGB_PID: + case RS455_PID: + case RS465_PID: + case RS_USB2_PID: + case RS_L515_PID_PRE_PRQ: + case RS_L515_PID: + case RS_L535_PID: + _realSenseNode = std::shared_ptr(new BaseRealSenseNode(nh, privateNh, _device, _serial_no)); + break; + case RS_T265_PID: + _realSenseNode = std::shared_ptr(new T265RealsenseNode(nh, privateNh, _device, _serial_no)); + break; + default: + ROS_FATAL_STREAM("Unsupported device!" << " Product ID: 0x" << pid_str); + ros::shutdown(); + exit(1); + } + assert(_realSenseNode); + _realSenseNode->publishTopics(); + } + catch (const rs2::error& e) + { + ROS_ERROR_STREAM("Exception: " << e.what()); + } +} + +void RealSenseNodeFactory::reset() +{ + _is_alive = false; + if (_query_thread.joinable()) + { + _query_thread.join(); + } + + try + { + _realSenseNode.reset(); + if (_device) + { + _device.hardware_reset(); + _device = rs2::device(); + } + } + catch (const rs2::error& e) + { + ROS_ERROR_STREAM("Exception: " << e.what()); + } + + _init_timer = getNodeHandle().createWallTimer(ros::WallDuration(1.0), &RealSenseNodeFactory::initialize, this, true); +} + +bool RealSenseNodeFactory::handleReset(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response) +{ + reset(); + return true; +} + +void RealSenseNodeFactory::tryGetLogSeverity(rs2_log_severity& severity) const +{ + static const char* severity_var_name = "LRS_LOG_LEVEL"; + auto content = getenv(severity_var_name); + + if (content) + { + std::string content_str(content); + std::transform(content_str.begin(), content_str.end(), content_str.begin(), ::toupper); + + for (uint32_t i = 0; i < RS2_LOG_SEVERITY_COUNT; i++) + { + auto current = std::string(rs2_log_severity_to_string((rs2_log_severity)i)); + std::transform(current.begin(), current.end(), current.begin(), ::toupper); + if (content_str == current) + { + severity = (rs2_log_severity)i; + break; + } + } + } +} diff --git a/realsense_utils/realsense2_camera/src/t265_realsense_node.cpp b/realsense_utils/realsense2_camera/src/t265_realsense_node.cpp new file mode 100644 index 00000000..97416198 --- /dev/null +++ b/realsense_utils/realsense2_camera/src/t265_realsense_node.cpp @@ -0,0 +1,146 @@ +#include "realsense2_camera/t265_realsense_node.h" + +using namespace realsense2_camera; + +T265RealsenseNode::T265RealsenseNode(ros::NodeHandle& nodeHandle, + ros::NodeHandle& privateNodeHandle, + rs2::device dev, + const std::string& serial_no) : + BaseRealSenseNode(nodeHandle, privateNodeHandle, dev, serial_no), + _wo_snr(dev.first()), + _use_odom_in(false) + { + _monitor_options = {RS2_OPTION_ASIC_TEMPERATURE, RS2_OPTION_MOTION_MODULE_TEMPERATURE}; + initializeOdometryInput(); + handleWarning(); + } + +void T265RealsenseNode::initializeOdometryInput() +{ + std::string calib_odom_file; + _pnh.param("calib_odom_file", calib_odom_file, std::string("")); + if (calib_odom_file.empty()) + { + ROS_INFO("No calib_odom_file. No input odometry accepted."); + return; + } + std::ifstream calibrationFile(calib_odom_file); + if (!calibrationFile) + { + ROS_FATAL_STREAM("calibration_odometry file not found. calib_odom_file = " << calib_odom_file); + throw std::runtime_error("calibration_odometry file not found" ); + } + const std::string json_str((std::istreambuf_iterator(calibrationFile)), + std::istreambuf_iterator()); + const std::vector wo_calib(json_str.begin(), json_str.end()); + + if (!_wo_snr.load_wheel_odometery_config(wo_calib)) + { + ROS_FATAL_STREAM("Format error in calibration_odometry file: " << calib_odom_file); + throw std::runtime_error("Format error in calibration_odometry file" ); + } + _use_odom_in = true; +} + +void T265RealsenseNode::toggleSensors(bool enabled) +{ + ROS_WARN_STREAM("toggleSensors method not implemented for T265"); +} + +void T265RealsenseNode::publishTopics() +{ + BaseRealSenseNode::publishTopics(); + setupSubscribers(); +} + +void T265RealsenseNode::handleWarning() +{ + rs2::log_to_callback( rs2_log_severity::RS2_LOG_SEVERITY_WARN, [&] + ( rs2_log_severity severity, rs2::log_message const & msg ) noexcept { + _T265_fault = msg.raw(); + std::array list_of_fault{"SLAM_ERROR", "Stream transfer failed, exiting"}; + auto it = std::find_if(begin(list_of_fault), end(list_of_fault), + [&](const std::string& s) {return _T265_fault.find(s) != std::string::npos; }); + if (it != end(list_of_fault)) + { + callback_updater.add("Warning ",this, & T265RealsenseNode::warningDiagnostic); + callback_updater.force_update(); + } + }); +} + +void T265RealsenseNode::setupSubscribers() +{ + if (!_use_odom_in) return; + + std::string topic_odom_in; + _pnh.param("topic_odom_in", topic_odom_in, DEFAULT_TOPIC_ODOM_IN); + ROS_INFO_STREAM("Subscribing to in_odom topic: " << topic_odom_in); + + _odom_subscriber = _node_handle.subscribe(topic_odom_in, 1, &T265RealsenseNode::odom_in_callback, this); +} + +void T265RealsenseNode::odom_in_callback(const nav_msgs::Odometry::ConstPtr& msg) +{ + ROS_DEBUG("Got in_odom message"); + rs2_vector velocity {-(float)(msg->twist.twist.linear.y), + (float)(msg->twist.twist.linear.z), + -(float)(msg->twist.twist.linear.x)}; + + ROS_DEBUG_STREAM("Add odom: " << velocity.x << ", " << velocity.y << ", " << velocity.z); + _wo_snr.send_wheel_odometry(0, 0, velocity); +} + +void T265RealsenseNode::calcAndPublishStaticTransform(const stream_index_pair& stream, const rs2::stream_profile& base_profile) +{ + // Transform base to stream + tf::Quaternion quaternion_optical; + quaternion_optical.setRPY(M_PI / 2, 0.0, -M_PI / 2); //Pose To ROS + float3 zero_trans{0, 0, 0}; + + ros::Time transform_ts_ = ros::Time::now(); + + rs2_extrinsics ex; + try + { + ex = getAProfile(stream).get_extrinsics_to(base_profile); + } + catch (std::exception& e) + { + if (!strcmp(e.what(), "Requested extrinsics are not available!")) + { + ROS_WARN_STREAM(e.what() << " : using unity as default."); + ex = rs2_extrinsics({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0,0,0}}); + } + else + { + throw e; + } + } + + auto Q = rotationMatrixToQuaternion(ex.rotation); + Q = quaternion_optical * Q * quaternion_optical.inverse(); + float3 trans{ex.translation[0], ex.translation[1], ex.translation[2]}; + if (stream == POSE) + { + Q = Q.inverse(); + publish_static_tf(transform_ts_, trans, Q, _frame_id[stream], _base_frame_id); + } + else + { + publish_static_tf(transform_ts_, trans, Q, _base_frame_id, _frame_id[stream]); + publish_static_tf(transform_ts_, zero_trans, quaternion_optical, _frame_id[stream], _optical_frame_id[stream]); + + // Add align_depth_to if exist: + if (_align_depth && _depth_aligned_frame_id.find(stream) != _depth_aligned_frame_id.end()) + { + publish_static_tf(transform_ts_, trans, Q, _base_frame_id, _depth_aligned_frame_id[stream]); + publish_static_tf(transform_ts_, zero_trans, quaternion_optical, _depth_aligned_frame_id[stream], _optical_frame_id[stream]); + } + } +} + +void T265RealsenseNode::warningDiagnostic(diagnostic_updater::DiagnosticStatusWrapper& status) +{ + status.summary(diagnostic_msgs::DiagnosticStatus::WARN, _T265_fault); +} diff --git a/realsense_utils/realsense2_camera/srv/DeviceInfo.srv b/realsense_utils/realsense2_camera/srv/DeviceInfo.srv new file mode 100644 index 00000000..d41600c6 --- /dev/null +++ b/realsense_utils/realsense2_camera/srv/DeviceInfo.srv @@ -0,0 +1,7 @@ +--- +string device_name +string serial_number +string firmware_version +string usb_type_descriptor +string firmware_update_id +string sensors diff --git a/realsense_utils/realsense2_description/CHANGELOG.rst b/realsense_utils/realsense2_description/CHANGELOG.rst new file mode 100644 index 00000000..cd922b92 --- /dev/null +++ b/realsense_utils/realsense2_description/CHANGELOG.rst @@ -0,0 +1,77 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package realsense2_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.3.2 (2021-11-15) +------------------ +* Add D455 description +* Add missing aluminum material to d415 model. +* Contributors: Gilad Bretter, doronhi + +2.3.1 (2021-07-01) +------------------ +* add imu frames to _l515.urdf.xacro +* Contributors: Simon Honigmann, doronhi + +2.3.0 (2021-05-05) +------------------ + +2.2.24 (2021-04-21) +------------------- +* Add conditional param use_mesh. +* Contributors: Teo Cardoso + +2.2.23 (2021-03-24) +------------------- + +2.2.22 (2021-02-18) +------------------- +* Fix mass of d415 +* Consistent add_plug in xacros and launch files +* Contributors: Manuel Stahl, Tim Ãœbelhör, doronhi + +2.2.21 (2020-12-31) +------------------- + +2.2.20 (2020-11-19) +------------------- +* Add urdf file for l515 +* Contributors: doronhi + +2.2.18 (2020-10-26) +------------------- +* Feature: Add name to usb_plug to enable multiple copies of usb_plug model. +* Fix mass of d435 - from lgulich +* Contributors: Guillaume, doronhi, lgulich + +2.2.17 (2020-09-09) +------------------- + +2.2.16 (2020-08-06) +------------------- + +2.2.15 (2020-07-13) +------------------- +* Merge remote-tracking branch 'origin/development' into development +* Merge pull request `#1126 `_ from mcamurri/add-d435i-xacro + add D435i modules, urdf and launchfile +* comply to ROS Noetic xacro rules (backcompatible with ROS Melodic) +* Merge branch 'development' into add-d435i-xacro +* Merge branch 'development' of https://github.com/IntelRealSense/realsense-ros into development + realsense2_description/urdf/test_d435_multiple_cameras.urdf.xacro +* move xml start line in the right place +* add D435i modules, urdf and launchfile +* fix use_nominal_extrinsics arg/property +* add D435i modules, urdf and launchfile +* Contributors: Marco Camurri, doronhi + +2.2.14 (2020-06-18) +------------------- +* fix urdf issues (arg use_nominal_extrinsics). +* Add noetic support: + - urdf files. + - change state_publisher into robot_state_publisher +* correct offset between camera_link and base_link +* Contributors: Brice, Marco Camurri, doronhi + +* upgrade version to 2.2.13 diff --git a/realsense_utils/realsense2_description/CMakeLists.txt b/realsense_utils/realsense2_description/CMakeLists.txt new file mode 100644 index 00000000..3b285b43 --- /dev/null +++ b/realsense_utils/realsense2_description/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 2.8.3) +project(realsense2_description) + +find_package(catkin REQUIRED COMPONENTS + ) + +# RealSense description +catkin_package( + ) + +# Install files +install(DIRECTORY launch meshes rviz urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +# Tests +if (CATKIN_ENABLE_TESTING) + catkin_add_nosetests(tests) +endif() \ No newline at end of file diff --git a/realsense_utils/realsense2_description/launch/view_d415_model.launch b/realsense_utils/realsense2_description/launch/view_d415_model.launch new file mode 100644 index 00000000..670994a7 --- /dev/null +++ b/realsense_utils/realsense2_description/launch/view_d415_model.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/realsense_utils/realsense2_description/launch/view_d435_model.launch b/realsense_utils/realsense2_description/launch/view_d435_model.launch new file mode 100644 index 00000000..14f18670 --- /dev/null +++ b/realsense_utils/realsense2_description/launch/view_d435_model.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/realsense_utils/realsense2_description/launch/view_d435i_model.launch b/realsense_utils/realsense2_description/launch/view_d435i_model.launch new file mode 100644 index 00000000..8c8411af --- /dev/null +++ b/realsense_utils/realsense2_description/launch/view_d435i_model.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/realsense_utils/realsense2_description/launch/view_d455_model.launch b/realsense_utils/realsense2_description/launch/view_d455_model.launch new file mode 100644 index 00000000..1f6a1612 --- /dev/null +++ b/realsense_utils/realsense2_description/launch/view_d455_model.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/realsense_utils/realsense2_description/launch/view_l515_model.launch b/realsense_utils/realsense2_description/launch/view_l515_model.launch new file mode 100644 index 00000000..1ba9c6d4 --- /dev/null +++ b/realsense_utils/realsense2_description/launch/view_l515_model.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/realsense_utils/realsense2_description/launch/view_multiple_d435_models.launch b/realsense_utils/realsense2_description/launch/view_multiple_d435_models.launch new file mode 100644 index 00000000..50f0ab79 --- /dev/null +++ b/realsense_utils/realsense2_description/launch/view_multiple_d435_models.launch @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/realsense_utils/realsense2_description/launch/view_r410_model.launch b/realsense_utils/realsense2_description/launch/view_r410_model.launch new file mode 100644 index 00000000..923569b6 --- /dev/null +++ b/realsense_utils/realsense2_description/launch/view_r410_model.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/realsense_utils/realsense2_description/launch/view_r430_model.launch b/realsense_utils/realsense2_description/launch/view_r430_model.launch new file mode 100644 index 00000000..1f9434f4 --- /dev/null +++ b/realsense_utils/realsense2_description/launch/view_r430_model.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/realsense_utils/realsense2_description/meshes/d415.stl b/realsense_utils/realsense2_description/meshes/d415.stl new file mode 100644 index 00000000..6c6c82b0 Binary files /dev/null and b/realsense_utils/realsense2_description/meshes/d415.stl differ diff --git a/realsense_utils/realsense2_description/meshes/d435.dae b/realsense_utils/realsense2_description/meshes/d435.dae new file mode 100644 index 00000000..0ed32368 --- /dev/null +++ b/realsense_utils/realsense2_description/meshes/d435.dae @@ -0,0 +1,731 @@ + + + + + 2018-07-03T03:16:23 + 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115060 114851 114850 114840 114854 114873 115061 114858 115035 114874 115062 114875 115022 114854 114859 114859 114858 114874 114879 115062 114874 115000 114990 114985 114994 114990 114998 114993 115063 114981 114982 114981 115063 115039 115064 114980 115001 114980 115064 115040 115065 115002 114969 115002 115065 114970 115066 114957 114962 114957 115066 114949 114957 114962 114950 114949 115041 115042 115067 114951 114944 114951 115067 114933 114951 114944 114937 114933 115043 114924 114933 114937 115025 114924 115044 115045 115068 114926 114919 114926 115068 114920 115069 114918 114912 114918 115069 114910 115070 114911 115011 114911 115070 115046 115071 115010 115071 115048 115012 115012 115010 115071 115027 115012 115047 115026 115072 115015 115072 115050 114798 114798 115015 115072 115029 114798 115049 114796 114798 115029 115031 114796 115051 114794 114796 115031 114788 114794 115052 114787 114794 114788 115033 114787 115053 114802 114787 115033 115034 114802 115054 115055 115073 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a/realsense_utils/realsense2_description/meshes/plug_collision.stl b/realsense_utils/realsense2_description/meshes/plug_collision.stl new file mode 100644 index 00000000..2e493bdf Binary files /dev/null and b/realsense_utils/realsense2_description/meshes/plug_collision.stl differ diff --git a/realsense_utils/realsense2_description/package.xml b/realsense_utils/realsense2_description/package.xml new file mode 100644 index 00000000..96709be0 --- /dev/null +++ b/realsense_utils/realsense2_description/package.xml @@ -0,0 +1,17 @@ + + + realsense2_description + 2.3.2 + RealSense Camera description package for Intel 3D D400 cameras + Doron Hirshberg + Apache 2.0 + + http://www.ros.org/wiki/RealSense + https://github.com/intel-ros/realsense/issues + + Sergey Dorodnicov + Doron Hirshberg + catkin + xacro + rosunit + diff --git a/realsense_utils/realsense2_description/rviz/urdf.rviz b/realsense_utils/realsense2_description/rviz/urdf.rviz new file mode 100644 index 00000000..18372e14 --- /dev/null +++ b/realsense_utils/realsense2_description/rviz/urdf.rviz @@ -0,0 +1,227 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + - /TF1/Frames1 + Splitter Ratio: 0.636029422 + Tree Height: 595 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_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: true + Frame Timeout: 15 + Frames: + All Enabled: false + base_link: + Value: true + camera_bottom_screw_frame: + Value: false + camera_color_frame: + Value: false + camera_color_optical_frame: + Value: false + camera_depth_frame: + Value: false + camera_depth_optical_frame: + Value: false + camera_infra1_frame: + Value: true + camera_infra1_optical_frame: + Value: true + camera_infra2_frame: + Value: true + camera_infra2_optical_frame: + Value: true + camera_link: + Value: true + Marker Scale: 0.100000001 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + camera_bottom_screw_frame: + camera_link: + camera_color_frame: + camera_color_optical_frame: + {} + camera_depth_frame: + camera_depth_optical_frame: + {} + camera_infra1_frame: + camera_infra1_optical_frame: + {} + camera_infra2_frame: + camera_infra2_optical_frame: + {} + Update Interval: 0 + 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: RGB8 + 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): 0.00999999978 + Style: Flat Squares + Topic: /camera/depth/color/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + 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/ThirdPersonFollower + Distance: 0.409323573 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: -0.00499998499 + Target Frame: + Value: ThirdPersonFollower (rviz) + Yaw: 0.685000181 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 876 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1375 + X: 65 + Y: 24 diff --git a/realsense_utils/realsense2_description/tests/dual_d415.xacro b/realsense_utils/realsense2_description/tests/dual_d415.xacro new file mode 100644 index 00000000..a2c5870f --- /dev/null +++ b/realsense_utils/realsense2_description/tests/dual_d415.xacro @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/tests/dual_d435.xacro b/realsense_utils/realsense2_description/tests/dual_d435.xacro new file mode 100644 index 00000000..d0628752 --- /dev/null +++ b/realsense_utils/realsense2_description/tests/dual_d435.xacro @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/tests/dual_r410.xacro b/realsense_utils/realsense2_description/tests/dual_r410.xacro new file mode 100644 index 00000000..686c52a5 --- /dev/null +++ b/realsense_utils/realsense2_description/tests/dual_r410.xacro @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/tests/dual_r430.xacro b/realsense_utils/realsense2_description/tests/dual_r430.xacro new file mode 100644 index 00000000..463e7614 --- /dev/null +++ b/realsense_utils/realsense2_description/tests/dual_r430.xacro @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/tests/one_of_each.xacro b/realsense_utils/realsense2_description/tests/one_of_each.xacro new file mode 100644 index 00000000..58c1bdf0 --- /dev/null +++ b/realsense_utils/realsense2_description/tests/one_of_each.xacro @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/tests/test_xacro.py b/realsense_utils/realsense2_description/tests/test_xacro.py new file mode 100644 index 00000000..939fced2 --- /dev/null +++ b/realsense_utils/realsense2_description/tests/test_xacro.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python + +import rospkg +import subprocess +import os + +r = rospkg.RosPack() +path = r.get_path('realsense2_description') + + +def run_xacro_in_file(filename): + assert(filename != "") + assert(subprocess.check_output(["xacro", "--inorder", "tests/{}".format(filename)], + cwd=path)) + + +def test_files(): + for _, _, filenames in os.walk(os.path.join(path, "tests")): + for file in filenames: + if file.endswith(".xacro"): + yield run_xacro_in_file, file diff --git a/realsense_utils/realsense2_description/urdf/_d415.urdf.xacro b/realsense_utils/realsense2_description/urdf/_d415.urdf.xacro new file mode 100644 index 00000000..07306bfa --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_d415.urdf.xacro @@ -0,0 +1,152 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/_d435.urdf.xacro b/realsense_utils/realsense2_description/urdf/_d435.urdf.xacro new file mode 100644 index 00000000..5593cbc3 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_d435.urdf.xacro @@ -0,0 +1,159 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/_d435i.urdf.xacro b/realsense_utils/realsense2_description/urdf/_d435i.urdf.xacro new file mode 100644 index 00000000..b62aef2b --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_d435i.urdf.xacro @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/_d435i_imu_modules.urdf.xacro b/realsense_utils/realsense2_description/urdf/_d435i_imu_modules.urdf.xacro new file mode 100644 index 00000000..964b812c --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_d435i_imu_modules.urdf.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/_d455.urdf.xacro b/realsense_utils/realsense2_description/urdf/_d455.urdf.xacro new file mode 100644 index 00000000..b82094e0 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_d455.urdf.xacro @@ -0,0 +1,197 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/_l515.urdf.xacro b/realsense_utils/realsense2_description/urdf/_l515.urdf.xacro new file mode 100644 index 00000000..5d4da9b7 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_l515.urdf.xacro @@ -0,0 +1,200 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/_materials.urdf.xacro b/realsense_utils/realsense2_description/urdf/_materials.urdf.xacro new file mode 100644 index 00000000..96239ad1 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_materials.urdf.xacro @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/_r410.urdf.xacro b/realsense_utils/realsense2_description/urdf/_r410.urdf.xacro new file mode 100644 index 00000000..664f8ea9 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_r410.urdf.xacro @@ -0,0 +1,115 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/_r430.urdf.xacro b/realsense_utils/realsense2_description/urdf/_r430.urdf.xacro new file mode 100644 index 00000000..acabbf35 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_r430.urdf.xacro @@ -0,0 +1,131 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/_usb_plug.urdf.xacro b/realsense_utils/realsense2_description/urdf/_usb_plug.urdf.xacro new file mode 100644 index 00000000..af54aede --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/_usb_plug.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/test_d415_camera.urdf.xacro b/realsense_utils/realsense2_description/urdf/test_d415_camera.urdf.xacro new file mode 100644 index 00000000..aaecade3 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/test_d415_camera.urdf.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/test_d435_camera.urdf.xacro b/realsense_utils/realsense2_description/urdf/test_d435_camera.urdf.xacro new file mode 100644 index 00000000..7d1da6cc --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/test_d435_camera.urdf.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/test_d435_multiple_cameras.urdf.xacro b/realsense_utils/realsense2_description/urdf/test_d435_multiple_cameras.urdf.xacro new file mode 100644 index 00000000..5ee8586d --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/test_d435_multiple_cameras.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/test_d435i_camera.urdf.xacro b/realsense_utils/realsense2_description/urdf/test_d435i_camera.urdf.xacro new file mode 100644 index 00000000..326ba152 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/test_d435i_camera.urdf.xacro @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/test_d455_camera.urdf.xacro b/realsense_utils/realsense2_description/urdf/test_d455_camera.urdf.xacro new file mode 100644 index 00000000..c581f756 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/test_d455_camera.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/test_l515_camera.urdf.xacro b/realsense_utils/realsense2_description/urdf/test_l515_camera.urdf.xacro new file mode 100644 index 00000000..6b1c3354 --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/test_l515_camera.urdf.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/test_r410_camera.urdf.xacro b/realsense_utils/realsense2_description/urdf/test_r410_camera.urdf.xacro new file mode 100644 index 00000000..aaf4ac7c --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/test_r410_camera.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/realsense_utils/realsense2_description/urdf/test_r430_camera.urdf.xacro b/realsense_utils/realsense2_description/urdf/test_r430_camera.urdf.xacro new file mode 100644 index 00000000..9064208e --- /dev/null +++ b/realsense_utils/realsense2_description/urdf/test_r430_camera.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/rover_gazebo/launch/cam_test.launch b/rover_gazebo/launch/cam_test.launch new file mode 100644 index 00000000..cf55aad8 --- /dev/null +++ b/rover_gazebo/launch/cam_test.launch @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file