Merge pull request #19 from reaganlo/release

Release 1.0.2

Author: reaganlo

.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,32 @@
+### System Configuration
+Please complete Your Configuration detail below.
+
+| Version          | Known Good   | Your Configuration |
+| ---------------- | ------------:| ------------------:|
+| Operating System | ubuntu 14.04 |                ??? |
+| Kernel Version   |     4.4.0-13 |            ?.?.?-? |
+| R200 FW          |    1.0.72.06 |            ?.?.?.? |
+| librealsense     |        0.9.1 |              ?.?.? |
+
+---
+#### How to collect Configuration Data
+*This section can be delete before submission.*
+
+| Version          | Method |
+| ---------------- | ------------ |
+| Operating System | `cat /etc/*elease*` |
+| Kernel Version   |    `uname -r` |
+| R200 FW          |    View the ROS log from running node **OR** `<path to librealsense>/librealsense/bin/cpp-enumerate-devices | grep -i firmware` |
+| librealsense     |      `cat <path to librealsense>/librealsense/readme.md | grep release-image | awk -F- '{print $3}'` |
+---
+
+
+### Expected Behavior
+
+
+### Actual Behavior
+
+
+### Steps to Reproduce
+
+

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,8 @@
+Fixes Issue: #
+
+Changes proposed in this pull request:
+-
+-
+-
+
+

camera/CHANGELOG.rst

@@ -2,6 +2,24 @@
 Changelog for package realsense_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.2 (2016-03-28)
+------------------
+* Added functionality to access camera using Serial No:
+  This fixes Issue #18.
+  Added code to handle various use cases for input serial number such as
+  --Exit with error if no serial number is specified and multiple cameras are detected.
+  --Exit with error if no camera is detected that matches the input serial number.
+  --Prints all the detected cameras.
+  Updated launch files with a placeholder for serial number.
+  Updated rgbd_launch test code to remove hardcoded topic names.
+* Modified all parameters to lowercase for consistency
+  This fixes Issue #13.
+* Removed support for R200_DISPARITY_MULTIPLIER camera option
+* Added missing install targets
+  This fixes Pull Request #2.
+  This fixes Issue #17.
+* Contributors: Reagan Lopez, Rajvi Jingar
+
 1.0.1 (2016-03-17)
 ------------------
 * Convert command line args to ROS params

camera/CMakeLists.txt

@@ -43,29 +43,47 @@ generate_dynamic_reconfigure_options(
   cfg/camera_params.cfg
 )
 
-
-
 include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
 add_library(realsense_camera_nodelet src/realsense_camera_nodelet.cpp)
-target_link_libraries(realsense_camera_nodelet 
+target_link_libraries(realsense_camera_nodelet
   ${catkin_LIBRARIES}
   /usr/local/lib/librealsense.so
 )
 add_dependencies(realsense_camera_nodelet realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg)
 
 add_executable(realsense_camera_test test/realsense_camera_test_node.cpp)
-target_link_libraries(realsense_camera_test 
+target_link_libraries(realsense_camera_test
   ${catkin_LIBRARIES}
   ${GTEST_LIBRARIES}
 )
 add_dependencies(realsense_camera_test realsense_camera_generate_messages_cpp ${PROJECT_NAME}_gencfg)
 
 add_executable(realsense_camera_test_rgbd test/realsense_camera_test_rgbd_node.cpp)
-target_link_libraries(realsense_camera_test_rgbd 
+target_link_libraries(realsense_camera_test_rgbd
   ${catkin_LIBRARIES}
   ${GTEST_LIBRARIES}
 )
 add_dependencies(realsense_camera_test_rgbd realsense_camera_generate_messages_cpp)
+
+# Install nodelet library
+install(TARGETS realsense_camera_nodelet LIBRARY
+    DESTINATION ${CATKIN_PACKAGE_LIB_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 package.xml realsense_camera_nodelet_plugins.xml
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

camera/README.md

@@ -73,6 +73,9 @@ Infrared2 camera
 #### Static Parameters
 
     Stream parameters:
+        serial_no (string, default: blank)
+            Specify the serial_no to uniquely connect to a camera, especially if multiple cameras are detected by the nodelet.
+            This feature has been tested to work only on kernel version 4.4.0-040400-generic.
 	    mode (string, default: preset)
 	        Specify the mode to start camera streams. Mode comprises of height, width and fps. 
 	        Preset mode enables default values whereas Manual mode enables the specified parameter values.
@@ -98,19 +101,19 @@ Infrared2 camera
 	        Specify the camera name. 
     Camera parameters: 
     Following are the parameters that can be set only statically in the R200 camera:
-        R200_DEPTH_UNITS : [1, 2147483647]
-        R200_DEPTH_CLAMP_MIN : [0, 65535]
-        R200_DEPTH_CLAMP_MAX : [0, 65535]
-        R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT : [0 - 255]
-        R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT  : [0 - 255]
-        R200_DEPTH_CONTROL_MEDIAN_THRESHOLD : [0 - 1023]
-        R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD : [0 - 1023]
-        R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD : [0 - 1023]
-        R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD : [0 - 31]
-        R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD : [0 - 1023]
-        R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD : [0 - 1023]
-        R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD : [0 - 1023]
-        R200_DEPTH_CONTROL_LR_THRESHOLD : [0 - 2047]
+        r200_depth_units : [1, 2147483647]
+        r200_depth_clamp_min : [0, 65535]
+        r200_depth_clamp_max : [0, 65535]
+        r200_depth_control_estimate_median_decrement : [0 - 255]
+        r200_depth_control_estimate_median_increment  : [0 - 255]
+        r200_depth_control_median_threshold : [0 - 1023]
+        r200_depth_control_score_minimum_threshold : [0 - 1023]
+        r200_depth_control_score_maximum_threshold : [0 - 1023]
+        r200_depth_control_texture_count_threshold : [0 - 31]
+        r200_depth_control_texture_difference_threshold : [0 - 1023]
+        r200_depth_control_second_peak_threshold : [0 - 1023]
+        r200_depth_control_neighbor_threshold : [0 - 1023]
+        r200_depth_control_lr_threshold : [0 - 2047]
 
 ####Services
     get_settings (camera/get_settings)
@@ -126,28 +129,27 @@ To get supported camera options with current value set. It returns string in opt
 
     Camera parameters: 
     Following are the parameters that can be set dynamically as well as statically in the R200 camera.
-        COLOR_BACKLIGHT_COMPENSATION
-        COLOR_BRIGHTNESS
-        COLOR_CONTRAST
-        COLOR_GAIN
-        COLOR_GAMMA
-        COLOR_HUE
-        COLOR_SATURATION
-        COLOR_SHARPNESS
-        COLOR_ENABLE_AUTO_WHITE_BALANCE
-        COLOR_WHITE_BALANCE            (Must be set only if COLOR_ENABLE_AUTO_WHITE_BALANCE is disabled)
-        R200_LR_GAIN
-        R200_EMITTER_ENABLED
-        R200_DISPARITY_MULTIPLIER      (This parameter does not work in the latest R200 firmware release. Likely to be removed in the next ros-realsense release.)
-        R200_LR_EXPOSURE               (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is disabled)        
-    Following are the parameters that can only be set dynamically in the R200 camera.        
-        R200_LR_AUTO_EXPOSURE_ENABLED
-        R200_AUTO_EXPOSURE_TOP_EDGE    (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled)
-        R200_AUTO_EXPOSURE_BOTTOM_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled)
-        R200_AUTO_EXPOSURE_LEFT_EDGE   (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled)
-        R200_AUTO_EXPOSURE_RIGHT_EDGE  (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled)
-
-Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image.	
+        color_backlight_compensation
+        color_brightness
+        color_contrast
+        color_gain
+        color_gamma
+        color_hue
+        color_saturation
+        color_sharpness
+        color_enable_auto_white_balance
+        color_white_balance            (Must be set only if color_enable_auto_white_balance is disabled)
+        r200_lr_gain
+        r200_emitter_enabled
+        r200_lr_exposure               (Must be set only if r200_lr_auto_exposure_enabled is disabled)
+    Following are the parameters that can only be set dynamically in the R200 camera.
+        r200_lr_auto_exposure_enabled
+        r200_auto_exposure_top_edge    (Must be set only if r200_lr_auto_exposure_enabled is enabled)
+        r200_auto_exposure_bottom_edge (Must be set only if r200_lr_auto_exposure_enabled is enabled)
+        r200_auto_exposure_left_edge   (Must be set only if r200_lr_auto_exposure_enabled is enabled)
+        r200_auto_exposure_right_edge  (Must be set only if r200_lr_auto_exposure_enabled is enabled)
+
+Note: For Autoexposure edge parameters, max value will go only upto the bounds of the infrared image.
 E.g. For 320x240 infrared image, valid values are within 0-319 and 0-239)
 
 Use rqt_reconfigure GUI to view and edit the parameters that are accessible via dynamic_reconfigure.
@@ -158,7 +160,7 @@ Command to launch GUI:
 Command to change dynamic parameters using commandline:
 
     $ rosrun dynamic_reconfigure dynparam set /<node> <parameter_name> <value>
-    E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet COLOR_BACKLIGHT_COMPENSATION 2
+    E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet color_backlight_compensation 2
 
 
 ###Running the R200 nodelet
@@ -245,17 +247,22 @@ Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_
 
 
 ###Limitations:
-Currently, the ROS camera nodelet only supports the following formats:
-* Color stream:    RGB8
-* Depth stream:    Y16
-* Infrared stream: Y8
-
-Note: The camera does not provide hardware based depth registration/projector data. Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics:  
-/camera/depth_registered/hw_registered/image_rect_raw  
-/camera/depth_registered/points  
-/camera/depth_registered/hw_registered/image_rect  
-/camera/depth_registered/image  
-/camera/depth/disparity  
-/camera/depth_registered/disparity  
-
+* Currently, the camera nodelet has been tested to work only for R200 cameras.
+
+* Currently, the camera nodelet only supports the following formats:
+    * Color stream:    RGB8
+    * Depth stream:    Y16
+    * Infrared stream: Y8
+
+* The camera does not provide hardware based depth registration/projector data. 
+Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics:  
+    * /camera/depth_registered/hw_registered/image_rect_raw  
+    * /camera/depth_registered/points  
+    * /camera/depth_registered/hw_registered/image_rect  
+    * /camera/depth_registered/image  
+    * /camera/depth/disparity  
+    * /camera/depth_registered/disparity  
+
+* If there are multiple R200 cameras connected to a system, the nodelet can be launched for a particular camera 
+by specifing the serial_no parameter in the launch file. But it has not been tested to launch nodelets simultaneouly for multiple cameras.
 

camera/cfg/camera_params.cfg

@@ -8,24 +8,23 @@ gen = ParameterGenerator()
 
 #             Name                               Type      Level       Description                     Default    Min     Max
 gen.add("enable_depth",                          bool_t,   0,          "Enable Depth",                 True)
-gen.add("COLOR_BACKLIGHT_COMPENSATION",          int_t,    0,          "Backlight Compensation",       1,         0,      4)
-gen.add("COLOR_BRIGHTNESS",                      int_t,    0,          "Brightness",                   56,        0,      255)
-gen.add("COLOR_CONTRAST",                        int_t,    0,          "Contrast",                     32,        16,     64)
-gen.add("COLOR_GAIN",                            int_t,    0,          "Gain",                         32,        0,      256)
-gen.add("COLOR_GAMMA",                           int_t,    0,          "Gamma",                        220,       100,    280)
-gen.add("COLOR_HUE",                             int_t,    0,          "Hue",                          0,         -2200,  2200)
-gen.add("COLOR_SATURATION",                      int_t,    0,          "Saturation",                   128,       0,      255)
-gen.add("COLOR_SHARPNESS",                       int_t,    0,          "Sharpness",                    0,         0,      7)
-gen.add("COLOR_WHITE_BALANCE",                   int_t,    0,          "White Balance",                6500,      2000,   8000)
-gen.add("COLOR_ENABLE_AUTO_WHITE_BALANCE",       int_t,    0,          "Enable Auto White Balance",    1,         0,      1)
-gen.add("R200_LR_AUTO_EXPOSURE_ENABLED",         int_t,    0,          "LR Auto Exposure Enabled",     0,         0,      1)
-gen.add("R200_LR_GAIN",                          int_t,    0,          "LR Gain",                      400,       100,    6399)
-gen.add("R200_LR_EXPOSURE",                      int_t,    0,          "LR Exposure",                  164,       1,      164)
-gen.add("R200_EMITTER_ENABLED",                  int_t,    0,          "Emitter Enabled",              1,         0,      1)
-gen.add("R200_DISPARITY_MULTIPLIER",             int_t,    0,          "Disparity Multiplier",         32,        1,      1000)
-gen.add("R200_AUTO_EXPOSURE_TOP_EDGE",           int_t,    0,          "Auto Exposure Top Edge",       0,         0,      479)
-gen.add("R200_AUTO_EXPOSURE_BOTTOM_EDGE",        int_t,    0,          "Auto Exposure Bottom Edge",    479,       0,      479)
-gen.add("R200_AUTO_EXPOSURE_LEFT_EDGE",          int_t,    0,          "Auto Exposure Left Edge",      0,         0,      639)
-gen.add("R200_AUTO_EXPOSURE_RIGHT_EDGE",         int_t,    0,          "Auto Exposure Right Edge",     639,       0,      639)
+gen.add("color_backlight_compensation",          int_t,    0,          "Backlight Compensation",       1,         0,      4)
+gen.add("color_brightness",                      int_t,    0,          "Brightness",                   56,        0,      255)
+gen.add("color_contrast",                        int_t,    0,          "Contrast",                     32,        16,     64)
+gen.add("color_gain",                            int_t,    0,          "Gain",                         32,        0,      256)
+gen.add("color_gamma",                           int_t,    0,          "Gamma",                        220,       100,    280)
+gen.add("color_hue",                             int_t,    0,          "Hue",                          0,         -2200,  2200)
+gen.add("color_saturation",                      int_t,    0,          "Saturation",                   128,       0,      255)
+gen.add("color_sharpness",                       int_t,    0,          "Sharpness",                    0,         0,      7)
+gen.add("color_white_balance",                   int_t,    0,          "White Balance",                6500,      2000,   8000)
+gen.add("color_enable_auto_white_balance",       int_t,    0,          "Enable Auto White Balance",    1,         0,      1)
+gen.add("r200_lr_auto_exposure_enabled",         int_t,    0,          "LR Auto Exposure Enabled",     0,         0,      1)
+gen.add("r200_lr_gain",                          int_t,    0,          "LR Gain",                      400,       100,    6399)
+gen.add("r200_lr_exposure",                      int_t,    0,          "LR Exposure",                  164,       1,      164)
+gen.add("r200_emitter_enabled",                  int_t,    0,          "Emitter Enabled",              1,         0,      1)
+gen.add("r200_auto_exposure_top_edge",           int_t,    0,          "Auto Exposure Top Edge",       0,         0,      479)
+gen.add("r200_auto_exposure_bottom_edge",        int_t,    0,          "Auto Exposure Bottom Edge",    479,       0,      479)
+gen.add("r200_auto_exposure_left_edge",          int_t,    0,          "Auto Exposure Left Edge",      0,         0,      639)
+gen.add("r200_auto_exposure_right_edge",         int_t,    0,          "Auto Exposure Right Edge",     639,       0,      639)
 
 exit(gen.generate(PACKAGE, "realsense_camera", "camera_params"))

camera/launch/includes/realsense_r200_nodelet.launch.xml

@@ -1,14 +1,14 @@
 <launch>
     <!-- Name of nodelet manager, must be fully resolved -->
     <arg name="manager" />
-
     <arg name="depth_frame_id"      default="camera_depth_optical_frame" />
     <arg name="rgb_frame_id"        default="camera_rgb_optical_frame" />
     <arg name="publish_tf"          default="true" />
     <arg name="depth"               default="depth" />
     <arg name="rgb"                 default="rgb" />
     <arg name="ir"                  default="ir" />
     <arg name="ir2"                 default="ir2" />
+    <arg name="serial_no"           default="" />
     <arg name="mode"                default="preset" />
     <arg name="enable_depth"        default="true" />
     <arg name="enable_color"        default="true" />
@@ -25,6 +25,7 @@
 
     <node pkg="nodelet" type="nodelet" name="camera_nodelet"
         args="load realsense_camera/RealsenseNodelet $(arg manager)">
+        <param name="serial_no"         type="str"  value="$(arg serial_no)" />
         <param name="mode"              type="str"  value="$(arg mode)" />
         <param name="enable_depth"      type="bool" value="$(arg enable_depth_ir)" />
         <param name="enable_color"      type="bool" value="$(arg enable_color)" />

camera/launch/realsense_r200_navigation.launch

@@ -1,5 +1,5 @@
 <launch>
-
+    <arg name="serial_no" default="" />
 	<arg name="mode" default="preset" />
 	<arg name="enable_depth" default="true" />
 	<arg name="enable_color" default="true" />
@@ -10,6 +10,7 @@
 
     <node pkg="nodelet" type="nodelet" name="RealsenseNodelet"
         args="load realsense_camera/RealsenseNodelet standalone_nodelet" >
+        <param name="serial_no"         type="str"  value="$(arg serial_no)" />
         <param name="mode"              type="str"  value="$(arg mode)" />
         <param name="enable_depth"      type="bool" value="$(arg enable_depth)" />
         <param name="enable_color"      type="bool" value="$(arg enable_color)" />

camera/launch/realsense_r200_nodelet_standalone_manual.launch

@@ -1,5 +1,6 @@
 <launch>
 
+    <arg name="serial_no" default="" />
 	<arg name="mode" default="manual" />
 	<arg name="color_height" default="240" />
 	<arg name="color_width" default="320" />
@@ -16,6 +17,7 @@
 
     <node pkg="nodelet" type="nodelet" name="RealsenseNodelet"
         args="load realsense_camera/RealsenseNodelet standalone_nodelet">
+        <param name="serial_no"         type="str"  value="$(arg serial_no)" />
         <param name="mode"              type="str"  value="$(arg mode)" />
         <param name="enable_depth"      type="bool" value="$(arg enable_depth)" />
         <param name="enable_color"      type="bool" value="$(arg enable_color)" />

camera/launch/realsense_r200_nodelet_standalone_preset.launch

@@ -1,5 +1,5 @@
 <launch>
-
+    <arg name="serial_no" default="" />
 	<arg name="mode" default="preset" />
 	<arg name="enable_depth" default="true" />
 	<arg name="enable_color" default="true" />
@@ -10,6 +10,7 @@
 
     <node pkg="nodelet" type="nodelet" name="RealsenseNodelet"
         args="load realsense_camera/RealsenseNodelet standalone_nodelet">
+        <param name="serial_no"         type="str"  value="$(arg serial_no)" />
         <param name="mode"              type="str"  value="$(arg mode)" />
         <param name="enable_depth"      type="bool" value="$(arg enable_depth)" />
         <param name="enable_color"      type="bool" value="$(arg enable_color)" />