Merge pull request #273 from icarpis/development

Added RGB point cloud and stream synchronization
IntelRealSense · Nov 2, 2017 · 4aba5ce · 4aba5ce
2 parents 83a859e + 0525dcb
commit 4aba5ce
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Showing 7 changed files with 299 additions and 151 deletions.
diff --git a/README.md b/README.md
@@ -55,9 +55,7 @@ This will launch [RViz](http://wiki.ros.org/rviz) and display the depth pointclo
 
 
 ## Known Issues
-* This ROS node does not currently provide RGB point cloud.
 * This ROS node does not currently provide any dynamic reconfigure support for camera properties/presets.
-* This ROS node does not currently offer temporal syncronization of depth and color data.
 * This ROS node does not currently support [ROS Lunar Loggerhead](http://wiki.ros.org/lunar).
 * This ROS node does not currently work with [ROS 2](https://github.com/ros2/ros2/wiki).
 * This ROS node currently does not provide the unit-tests which ensure the proper operation of the camera.  Future versions of the node will provide ROS compatible unit-tests.

diff --git a/realsense_ros_camera/include/constants.h b/realsense_ros_camera/include/constants.h
@@ -9,7 +9,7 @@
 
 #define REALSENSE_ROS_MAJOR_VERSION    2
 #define REALSENSE_ROS_MINOR_VERSION    0
-#define REALSENSE_ROS_PATCH_VERSION    0
+#define REALSENSE_ROS_PATCH_VERSION    1
 
 #define STRINGIFY(arg) #arg
 #define VAR_ARG_STRING(arg) STRINGIFY(arg)
@@ -18,6 +18,9 @@
 
 namespace realsense_ros_camera
 {
+    const bool POINTCLOUD     = false;
+    const bool SYNC_FRAMES    = false;
+
     const int DEPTH_WIDTH     = 640;
     const int DEPTH_HEIGHT    = 480;
 

diff --git a/realsense_ros_camera/launch/demo_pointcloud.launch b/realsense_ros_camera/launch/demo_pointcloud.launch
@@ -2,11 +2,21 @@
   <arg name="manager" default="realsense_ros_camera_manager"/>
 
   <include file="$(find realsense_ros_camera)/launch/rs_camera.launch">
-    <arg name="manager"      value="$(arg manager)"/>
-    <arg name="depth_width"  value="640"/>
-    <arg name="depth_height" value="480"/>
-    <arg name="depth_fps"    value="30"/>
-    <arg name="enable_depth" value="true"/>
+    <arg name="manager"           value="$(arg manager)"/>
+    <arg name="depth_width"       value="640"/>
+    <arg name="depth_height"      value="480"/>
+    <arg name="depth_fps"         value="30"/>
+    <arg name="color_width"       value="640"/>
+    <arg name="color_height"      value="480"/>
+    <arg name="color_fps"         value="30"/>
+    <arg name="enable_depth"      value="true"/>
+    <arg name="enable_color"      value="true"/>
+    <arg name="enable_infra1"     value="false"/>
+    <arg name="enable_infra2"     value="false"/>
+    <arg name="enable_fisheye"    value="false"/>
+    <arg name="enable_imu"        value="false"/>
+    <arg name="enable_pointcloud" value="true"/>
+    <arg name="enable_sync"       value="true"/>
   </include>
 
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_ros_camera)/rviz/pointcloud.rviz" required="true" />

diff --git a/realsense_ros_camera/launch/rs_camera.launch b/realsense_ros_camera/launch/rs_camera.launch
@@ -38,9 +38,15 @@
   <arg name="accel_fps"           default="1000" />
   <arg name="enable_imu"          default="true" />
 
+  <arg name="enable_pointcloud"   default="false" />
+  <arg name="enable_sync"         default="false" />
+
   <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/> 
   <node pkg="nodelet" type="nodelet" name="realsense_ros_$(arg camera)" args="load realsense_ros_camera/RealSenseCameraNodelet $(arg manager)" output="screen">
 
+    <param name="enable_pointcloud"        type="bool" value="$(arg enable_pointcloud)" />
+    <param name="enable_sync"              type="bool" value="$(arg enable_sync)" />
+
     <param name="fisheye_width"            type="int"  value="$(arg fisheye_width)" />
     <param name="fisheye_height"           type="int"  value="$(arg fisheye_height)" />
     <param name="enable_fisheye"           type="bool" value="$(arg enable_fisheye)" />

diff --git a/realsense_ros_camera/package.xml b/realsense_ros_camera/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>realsense_ros_camera</name>
-  <version>1.0.0</version>
+  <version>2.0.1</version>
   <description>The realsense_ros_camera package</description>
   <maintainer email="[email protected]">Intel RealSense</maintainer>
   <license>Apache 2.0</license>

diff --git a/realsense_ros_camera/rviz/pointcloud.rviz b/realsense_ros_camera/rviz/pointcloud.rviz
@@ -55,8 +55,8 @@ Visualization Manager:
       Axis: Z
       Channel Name: intensity
       Class: rviz/PointCloud2
-      Color: 85; 0; 255
-      Color Transformer: FlatColor
+      Color: 255; 255; 255
+      Color Transformer: RGB8
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
@@ -68,9 +68,9 @@ Visualization Manager:
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
-      Size (Pixels): 1
+      Size (Pixels): 3
       Size (m): 0.00999999978
-      Style: Points
+      Style: Flat Squares
       Topic: /camera/points
       Unreliable: false
       Use Fixed Frame: true
@@ -100,24 +100,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 3.48406529
+      Distance: 6.36999989
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.697073579
-        Y: -0.280089796
+        X: 0
+        Y: 0
         Z: 0
-      Focal Shape Fixed Size: true
+      Focal Shape Fixed Size: false
       Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: 0.659797728
+      Pitch: 0.085398294
       Target Frame: <Fixed Frame>
       Value: ThirdPersonFollower (rviz)
-      Yaw: 3.15039515
+      Yaw: 3.01539803
     Saved: ~
 Window Geometry:
   Displays: