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Merge pull request #34 from mdhorn/release-1.0.4
Release 1.0.4
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‎.github/CONTRIBUTING.md‎

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# Contributing to ROS RealSense™ Project
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Third-party patches and contributions are welcome. We do require
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you read and agree to the Contribution License Agreement below.
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## Contribution License Agreement
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The Intel® RealSense™ ROS Project is developed and distributed under
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a BSD license as noted in [camera/licenses/License.txt](../camera/licenses/License.txt).
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By making a contribution to this project, I certify that:
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(a) The contribution was created in whole or in part by me and I
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have the right to submit it under the open source license
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indicated in the file; or
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(b) The contribution is based upon previous work that, to the best
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of my knowledge, is covered under an appropriate open source
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license and I have the right under that license to submit that
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work with modifications, whether created in whole or in part
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by me, under the same open source license (unless I am
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permitted to submit under a different license), as indicated
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in the file; or
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(c) The contribution was provided directly to me by some other
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person who certified (a), (b) or (c) and I have not modified
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it.
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(d) I understand and agree that this project and the contribution
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are public and that a record of the contribution (including all
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personal information I submit with it, including my sign-off) is
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maintained indefinitely and may be redistributed consistent with
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this project or the open source license(s) involved.
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# Contribution Prerequisites
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* Create a [GitHub account](https://github.com/join) if you do not already have one.
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* Search the existing [GitHub Issues](../../../issues)
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to see if your contribution is already documented.
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* Submit a [new GitHub Issue](../../../issues/new) if one does not exist.
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* Complete the provided template with your system configuration.
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* For Bug fixes, include directions on how to reproduce the problem.
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* For new functionality or features, please describe in detail the requirements.
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* [Create a Fork](../../../fork) of the repository on GitHub for your contribution.
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# Submitting Changes
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* Create a Topic branch for your work.
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* Base the topic branch on the ROS development branch `<ros release>-devel`.
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* Ensure changes follow the [ROS coding Style Guide](http://wiki.ros.org/StyleGuide)
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* Each commit needs to be functional/compile by itself.
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* Follow [Git Commit Guidelines](https://git-scm.com/book/ch5-2.html#Commit-Guidelines)
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regarding commit formatting.
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* Check for unnecessary whitespace with `git diff --check` before committing.
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* Rebase commits to squash where appropriate.
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* Verify the Test cases found in the package 'test' directory are passing.
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* Changes with new functionality should include new test cases.
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* Submit a [Pull Request](../../../compare) to the repository.
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* Ensure that it is flagged as "Able to merge", if not you may need to rebase your Fork.
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* List the Issues fixed by the Pull Request.
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### Monitor Your Pull Request
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* The maintainers attempt to review all Pull Requests in a timely manner; worse case
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is once per week.
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* If maintainers request changes or additional information for your Pull Request, the
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expectation is the submitter replies within two weeks.
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* Pull Requests may be closed without being merged if there is no submitter response after 3+ weeks.
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# Contribution Resources
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* [Create a GitHub account](https://github.com/join)
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* [GitHub Pull Request documentation](https://help.github.com/articles/using-pull-requests)
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* [ROS coding Style Guide](http://wiki.ros.org/StyleGuide)
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* [Git Commit Guidelines](https://git-scm.com/book/ch5-2.html#Commit-Guidelines)

‎.github/ISSUE_TEMPLATE.md‎

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|:---------------- |:---------------------|:---------------------|
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| Operating System | Ubuntu 14.04.4 LTS | ? ? ? |
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| Kernel | 4.4.0-040400-generic | ?-?-? |
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| Backend | video4linux | ? |
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| ROS | indigo | ? |
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| ROS RealSense | Latest Release | ?.?.? |
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| librealsense | 0.9.1 | ?.?.? |
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| R200 Firmware | 1.0.72.06 | ?.?.?.? |
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|:---------------- |:------------ |
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| Operating System | `grep DISTRIB_DESCRIPTION /etc/*elease*` |
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| Kernel | `uname -r` |
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| Backend | `ls /sys/class | grep video4linux` |
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| ROS | `rosversion -d` |
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| ROS RealSense | `rosversion realsense_camera` |
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| librealsense | `cat <path to librealsense>/librealsense/readme.md | grep release-image | awk -F- '{print $3}'` |
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| R200 Firmware | View the ROS log from running nodelet **OR** `<path to librealsense>/librealsense/bin/cpp-enumerate-devices | grep -i firmware` |
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‎.github/PULL_REQUEST_TEMPLATE.md‎

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**Please ensure the above *guidelines for contributing* are met.**
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Fixes Issue: #
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Changes proposed in this pull request:

‎README.md‎

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www.ros.org
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Refer to the README.md file within each package for more details.
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# Contributing to the Project
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The Intel&reg; RealSense&trade; ROS Project is developed and distributed under
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a BSD license as noted in [camera/licenses/License.txt](camera/licenses/License.txt).
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By making a contribution to this project, I certify that:
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(a) The contribution was created in whole or in part by me and I
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have the right to submit it under the open source license
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indicated in the file; or
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(b) The contribution is based upon previous work that, to the best
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of my knowledge, is covered under an appropriate open source
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license and I have the right under that license to submit that
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work with modifications, whether created in whole or in part
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by me, under the same open source license (unless I am
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permitted to submit under a different license), as indicated
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in the file; or
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(c) The contribution was provided directly to me by some other
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person who certified (a), (b) or (c) and I have not modified
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it.
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(d) I understand and agree that this project and the contribution
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are public and that a record of the contribution (including all
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personal information I submit with it, including my sign-off) is
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maintained indefinitely and may be redistributed consistent with
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this project or the open source license(s) involved.

‎camera/CHANGELOG.rst‎

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Changelog for package realsense_camera
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.0.4 (2016-04-25)
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------------------
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* Updated RGBD Launch File for Manual Mode (#25)
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* Updated Documentation with Backend and ROS RealSense details (#16)
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* Modified variable names to match ROS standards
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* Contributors: Mark D Horn, Reagan Lopez
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1.0.3 (2016-04-11)
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------------------
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* Updated code to enable multi-camera functionality
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Added code to generate frame_id's based on user entered values.
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Updated rgbd_launch files to reflect the changes.
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Updated README to reflect the changes.
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This fixes Issue #7.
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* Updated code to enable multi-camera functionality (#7)
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* Updated README and Issue Template with BKC
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* Contributors: Reagan Lopez
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1.0.2 (2016-03-28)
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------------------
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* Added functionality to access camera using Serial No:
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This fixes Issue #18.
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Added code to handle various use cases for input serial number such as
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--Exit with error if no serial number is specified and multiple cameras are detected.
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--Exit with error if no camera is detected that matches the input serial number.
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--Prints all the detected cameras.
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Updated launch files with a placeholder for serial number.
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Updated rgbd_launch test code to remove hardcoded topic names.
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* Modified all parameters to lowercase for consistency
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This fixes Issue #13.
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* Added functionality to access camera using Serial No (#18)
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* Modified all parameters to lowercase for consistency (#13)
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* Removed support for R200_DISPARITY_MULTIPLIER camera option
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* Added missing install targets
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This fixes Pull Request #2.
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This fixes Issue #17.
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* Added missing install targets (#2 #17)
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* Contributors: Reagan Lopez, Rajvi Jingar
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1.0.1 (2016-03-17)
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------------------
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* Convert command line args to ROS params
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This also fixes Issue #9 for publish_tf and enable_tf
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Updated README to indicate changes in R200_DISPARITY_MULTIPLIER.
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* Convert command line args to ROS params (#9)
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* New Feature to dynamically enable/disable depth stream
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Note: Enable/disable of depth stream also enables/disables infrared streams.
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* Update camera_info msgs
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Add identity matrix for rotation
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Add depth to color translation to projection matrix
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* Add rgbd_launch as run dependency.
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* Add missing Change Log history file
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This is a required file as part of the ROS (bloom) release process
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which was missed from our initial release.
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* Contributors: Mark D Horn, Matthew Hansen, Reagan Lopez, Rajvi Jingar
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1.0.0 (2016-02-29)

‎camera/README.md‎

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|:---------------- |:---------------------|
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| Operating System | Ubuntu 14.04.4 LTS |
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| Kernel | 4.4.0-040400-generic |
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| Backend | video4linux |
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| ROS | indigo |
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| librealsense | 0.9.1 |
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| R200 Firmware | 1.0.72.06 |
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* Depth stream: Y16
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* Infrared stream: Y8
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* Generating a Depth Registered Point Cloud is very memory intensive.
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The topic /camera/depth_registered/points, generated by launch file
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"realsense_r200_rgbd.launch", works best at 30 fps using 640x480 resolution
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on a system with 16GB of RAM.
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* The camera does not provide hardware based depth registration/projector data.
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Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics:
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* /camera/depth_registered/hw_registered/image_rect_raw
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* /camera/depth_registered/points
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* /camera/depth_registered/hw_registered/image_rect
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* /camera/depth_registered/image
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* /camera/depth/disparity
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* /camera/depth_registered/disparity
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* The performance benchmark for multiple cameras launched at the same time has not been defined yet.

‎camera/launch/includes/realsense_r200_nodelet.launch.xml‎

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<!-- RealSense -->
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<arg name="serial_no" default="" />
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<arg name="mode" default="" />
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<arg name="color_width" default="" />
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<arg name="color_height" default="" />
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<arg name="depth_width" default="" />
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<arg name="depth_height" default="" />
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<arg name="depth_fps" default="" />
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<arg name="color_fps" default="" />
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<arg name="ir2" default="ir2" />
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<!-- "enable_depth_ir" will take the value of "enable_ir" only if "enable_ir" is true.
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<param name="enable_color" type="bool" value="$(arg rgb_processing)" />
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<param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)" />
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<param name="enable_tf" type="bool" value="$(arg publish_tf)" />
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<param name="depth_width" type="int" value="$(arg depth_width)" />
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<param name="depth_height" type="int" value="$(arg depth_height)" />
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<param name="color_width" type="int" value="$(arg color_width)" />
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<param name="color_height" type="int" value="$(arg color_height)" />
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<param name="depth_fps" type="int" value="$(arg depth_fps)" />
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<param name="color_fps" type="int" value="$(arg color_fps)" />
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<param name="base_frame_id" type="str" value="$(arg camera)_link" />
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<param name="depth_frame_id" type="str" value="$(arg camera)_$(arg depth)_frame" />
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<param name="color_frame_id" type="str" value="$(arg camera)_$(arg rgb)_frame" />

‎camera/launch/realsense_r200_rgbd.launch‎

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<!-- "serial_no" should be the unique identifier to connect to a device. -->
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<arg name="serial_no" default="" />
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<!-- Set depth to match the default rectify size. -->
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<arg name="mode" default="manual" />
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<arg name="color_width" default="640" />
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<arg name="color_height" default="480" />
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<arg name="depth_width" default="480" />
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<arg name="depth_height" default="360" />
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<arg name="depth_fps" default="30" />
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<arg name="color_fps" default="30" />
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<!-- Use OpenNI's factory-calibrated depth->RGB registration? -->
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<arg name="depth_registration" default="false" />
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<!-- Arguments for remapping all device namespaces -->
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<arg name="depth" default="depth" />
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<arg name="rgb" default="rgb" />
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<arg name="ir" default="ir" />
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<arg name="rgb" default="rgb" />
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<arg name="ir" default="ir" />
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<arg name="depth_registered" default="depth_registered" />
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<arg name="projector" default="projector" />
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<arg name="depth_registered_processing" default="true"/>
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<arg name="disparity_processing" default="true"/>
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<arg name="disparity_registered_processing" default="true"/>
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<arg name="hw_registered_processing" default="true" />
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<arg name="hw_registered_processing" default="false" />
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<arg name="sw_registered_processing" default="true" />
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<!-- Disable respawn topics by default -->
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<arg name="respawn" default="false" />
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<!-- Worker threads for the nodelet manager -->
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<arg name="num_worker_threads" default="4" />
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<!-- Push down all topics/nodelets into "camera" namespace -->
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<group ns="$(arg camera)">
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<!-- Start nodelet manager in provided namespace -->
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<arg name="manager" value="$(arg camera)_nodelet_manager" />
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<arg name="debug" default="false" /> <!-- Run manager in GDB? -->
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<include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
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<arg name="manager" value="$(arg manager)" />
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<arg name="publish_tf" value="$(arg publish_tf)" />
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<arg name="depth" value="$(arg depth)" />
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<arg name="rgb" value="$(arg rgb)" />
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<arg name="rgb" value="$(arg rgb)" />
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<arg name="ir" value="$(arg ir)" />
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<arg name="depth_processing" value="$(arg depth_processing)" />
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<arg name="rgb_processing" value="$(arg rgb_processing)" />
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<arg name="ir_processing" value="$(arg ir_processing)" />
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<arg name="mode" value="$(arg mode)" />
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<arg name="color_width" value="$(arg color_width)" />
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<arg name="color_height" value="$(arg color_height)" />
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<arg name="depth_width" value="$(arg depth_width)" />
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<arg name="depth_height" value="$(arg depth_height)" />
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<arg name="depth_fps" value="$(arg depth_fps)" />
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<arg name="color_fps" value="$(arg color_fps)" />
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</include>
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‎camera/package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>realsense_camera</name>
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<version>1.0.3</version>
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<version>1.0.4</version>
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<description>RealSense Camera package allowing access to Intel 3D cameras and advanced modules</description>
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<maintainer email="[email protected]">Rajvi Jingar</maintainer>

‎camera/src/realsense_camera_nodelet.cpp‎

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{
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for (int i = 0; i < RS_OPTION_COUNT; ++i)
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{
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option_str o = { (rs_option) i };
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CameraOptions o = { (rs_option) i };
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if (rs_device_supports_option(rs_device_, o.opt, &rs_error_))
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{
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o.value = rs_get_device_option(rs_device_, o.opt, 0);
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camera_options_.push_back(o);
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}
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}
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}
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std::string get_options_result_str;
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std::string opt_name, opt_value;
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for (CameraOptions o: camera_options_)
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{
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std::transform(opt_name.begin(), opt_name.end(), opt_name.begin(), ::tolower);
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std::vector<camera_paramsConfig::AbstractParamDescriptionConstPtr> param_desc = params_config.__getParamDescriptions__();
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for (option_str o: options)
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for (CameraOptions o: camera_options_)
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{
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std::string opt_name = rs_option_to_string(o.opt);
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bool found = false;

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