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mattcurfmanmattcurfman
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Release 0.8.3
* [realsense_ros_camera] Added URDF models for R200 and ZR300 cameras * [realsense_ros_camera] Added Pointcloud and Laserscan support * [realsense_ros_camera] Fixed crashes that sometimes occured at node shutdown * [realsense_ros_person] Added instructions for record/playback * [realsense_ros_slam] Added a service to save slam output to files. * [realsense_ros_slam] Added reset service to slam. * [realsense_ros_slam] Run slam and camera nodelets in the same node.
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‎realsense_ros_camera/CHANGELOG.rst‎

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Changelog for package realsense_ros_camera
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.8.3 (2017-04-21)
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------------------
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* Added URDF models for R200 and ZR300 cameras
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* Added Pointcloud and Laserscan suppor
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* Fixed crashes that sometimes occured at node shutdown
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* Contributors: Ben Hirashima, Matt Curfman
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0.8.2 (2017-04-04)
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------------------
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* Bug fixes and updates

‎realsense_ros_camera/CMakeLists.txt‎

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@@ -12,6 +12,13 @@ find_package(catkin REQUIRED COMPONENTS
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tf
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)
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find_package(OpenMP REQUIRED)
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if(OPENMP_FOUND)
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set(OpenMP_LIBS gomp)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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endif()
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find_package(OpenCV 3 REQUIRED)
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#find_package(librealsense 1 REQUIRED) librealsense package currently lacks required pkgconfig file
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${catkin_LIBRARIES}
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${OpenCV_LIBRARIES}
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${CMAKE_THREAD_LIBS_INIT}
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${OpenMP_LIBS}
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)
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if (CATKIN_ENABLE_TESTING)

‎realsense_ros_camera/include/realsense_ros_camera/constants.h‎

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const double ROTATION_IDENTITY[] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
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const float MILLIMETER_METERS = 0.001;
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const float MAX_Z = 3.5f; // meters
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const std::string DEFAULT_BASE_FRAME_ID = "camera_link";
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const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame";

‎realsense_ros_camera/launch/camera.launch‎

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<arg name="fisheye_width" default="640" />
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<arg name="fisheye_height" default="480" />
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<arg name="enable_fisheye" default="false" />
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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_width" default="320" />
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<arg name="depth_height" default="240" />
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<arg name="enable_depth" default="true" />
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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="color_fps" default="30" />
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<node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/>
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<node pkg="nodelet" type="nodelet" name="realsense_ros_$(arg camera)" args="load realsense_ros_camera/NodeletCamera $(arg manager)" output="screen">
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<node pkg="nodelet" type="nodelet" name="realsense_ros_$(arg camera)" args="load realsense_ros_camera/NodeletCamera $(arg manager) --no-bond" output="screen">
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<param name="serial_no" type="str" value="$(arg serial_no)" />
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<param name="fisheye_width" type="int" value="$(arg fisheye_width)" />

‎realsense_ros_camera/launch/demo_pointcloud_and_laser.launch‎

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<launch>
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<arg name="manager" default="realsense_ros_camera_manager"/>
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<include file="$(find realsense_ros_camera)/launch/camera.launch">
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<arg name="manager" value="$(arg manager)"/>
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<arg name="depth_width" value="320"/>
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<arg name="depth_height" value="240"/>
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<arg name="color_width" value="320"/>
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<arg name="color_height" value="240"/>
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<arg name="enable_depth" value="true"/>
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<arg name="enable_color" value="true"/>
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</include>
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<node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet $(arg manager) --no-bond">
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<param name="scan_height" type="int" value="10" />
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<param name="range_min" type="double" value="0.35" />
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<param name="range_max" type="double" value="4.0" />
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<remap from="image" to="/camera/depth/image_raw"/>
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<remap from="camera_info" to="/camera/depth/camera_info"/>
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</node>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_ros_camera)/rviz/pointcloud_and_laser_view.rviz" required="true" />
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</launch>

‎realsense_ros_camera/launch/demo_r200_camera.launch‎

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<launch>
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<include file="$(find realsense_ros_camera)/launch/camera.launch">
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<arg name="depth_width" value="640"/>
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<arg name="depth_height" value="480"/>
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<arg name="depth_width" value="320"/>
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<arg name="depth_height" value="240"/>
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<arg name="enable_depth" value="true"/>
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<arg name="color_width" value="1920"/>
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<arg name="color_height" value="1080"/>
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<arg name="color_width" value="640"/>
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<arg name="color_height" value="480"/>
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<arg name="enable_color" value="true"/>
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</include>
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‎realsense_ros_camera/launch/demo_zr300_camera.launch‎

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<arg name="fisheye_height" value="480"/>
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<arg name="enable_fisheye" value="true"/>
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<arg name="depth_width" value="640"/>
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<arg name="depth_height" value="480"/>
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<arg name="depth_width" value="320"/>
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<arg name="depth_height" value="240"/>
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<arg name="enable_depth" value="true"/>
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<arg name="color_width" value="1920"/>

‎realsense_ros_camera/launch/play_bag.launch‎

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<launch>
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<node pkg="nodelet" type="nodelet" name="realsense_ros_camera_manager" args="manager" output="screen"/>
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<arg name="manager" default="realsense_ros_camera_manager"/>
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<node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/>
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<arg name="bag_path" default="$(env HOME)/test.bag" />
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<node pkg="rosbag" type="play" name="rosbag" args="$(arg bag_path)"/>

‎realsense_ros_camera/launch/view_r200_model.launch‎

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<launch>
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_ros_camera)/urdf/test_r200_camera.urdf.xacro'" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<arg name="gui" default="True" />
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<param name="use_gui" value="$(arg gui)"/>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_ros_camera)/rviz/urdf.rviz" required="true" />
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</launch>

‎realsense_ros_camera/launch/view_zr300_model.launch‎

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<launch>
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<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_ros_camera)/urdf/test_zr300_camera.urdf.xacro'" />
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<arg name="gui" default="True" />
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<param name="use_gui" value="$(arg gui)"/>
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_ros_camera)/rviz/urdf.rviz" required="true" />
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</launch>

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