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mattcurfmanmattcurfman
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Release 0.8.4
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‎.travis.sh‎

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#!/bin/bash
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set -e
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apt-get update && apt-get install -y -q wget sudo lsb-release # for docker
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#before_install:
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sh -c "echo \"deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main\" > /etc/apt/sources.list.d/ros-latest.list"
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sh -c "echo \"deb http://realsense-alm-public.s3.amazonaws.com/apt-repo `lsb_release -sc` main\" > /etc/apt/sources.list.d/realsense-latest.list"
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wget http://packages.ros.org/ros.key -O - | apt-key add -
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apt-key adv --keyserver keys.gnupg.net --recv-key D6FB2970
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apt-get update
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apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-kinetic-catkin librealsense-object-recognition-dev librealsense-persontracking-dev librealsense-slam-dev libopencv-dev
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source /opt/ros/$ROS_DISTRO/setup.bash
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rosdep init
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rosdep update
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#install:
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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catkin_init_workspace
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cd ~/catkin_ws
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catkin_make
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source devel/setup.bash
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cd ~/catkin_ws/src
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ln -s $CI_SOURCE_PATH .
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#before_script:
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cd ~/catkin_ws
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rosdep install -q -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
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#script:
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source /opt/ros/$ROS_DISTRO/setup.bash
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cd ~/catkin_ws
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catkin_make

‎.travis.yml‎

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sudo: required
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dist: trusty
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language: generic
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env:
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- ROS_DISTRO=kinetic
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before_install:
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- export CI_SOURCE_PATH=$(pwd)
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- export REPOSITORY_NAME=${PWD##*/}
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script:
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- echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
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- docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -t ubuntu:xenial sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"
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‎realsense_ros_camera/CHANGELOG.rst‎

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Changelog for package realsense_ros_camera
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

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0.8.4 (2017-04-28)
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------------------
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* Fixed broken dependencies in packages, causing rosdep to fail when building on clean machine
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* ROS timestamp fixes
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* Contributors: Matt Curfman
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511
0.8.3 (2017-04-21)
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------------------
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* Added URDF models for R200 and ZR300 cameras

‎realsense_ros_camera/package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>realsense_ros_camera</name>
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<version>0.8.3</version>
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<version>0.8.4</version>
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<description>The realsense_ros_camera package</description>
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<maintainer email="[email protected]">Intel RealSense</maintainer>
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<license>Apache 2.0</license>
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<build_depend>cv_bridge</build_depend>
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<build_depend>image_transport</build_depend>
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<build_depend>tf</build_depend>
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<build_depend>camera_info_manager</build_depend>
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<run_depend>image_transport</run_depend>
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<run_depend>cv_bridge</run_depend>
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<run_depend>nodelet</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>message_runtime</run_depend>
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<run_depend>tf</run_depend>
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<run_depend>camera_info_manager</run_depend>
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<export>
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<nodelet plugin="${prefix}/nodelet_plugins.xml" />
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</export>

‎realsense_ros_camera/src/camera_node.cpp‎

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@@ -35,7 +35,8 @@ class NodeletCamera: public nodelet::Nodelet
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{
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public:
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NodeletCamera() :
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cameraStarted_(false)
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cameraStarted_(false),
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intialize_time_base_(false)
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{
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// Types for depth stream
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format_[rs::stream::depth] = rs::format::z16; // libRS type
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info_publisher_[rs::stream::fisheye] =
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node_handle.advertise< sensor_msgs::CameraInfo >("camera/fisheye/camera_info", 1);
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// HW timestamp version of image publishers, for realsense_ros_slam package
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image_publishers_hw_timestamp_[rs::stream::color] = node_handle.advertise<sensor_msgs::Image>("/camera/color/image_raw_hw_timestamp", 1);
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image_publishers_hw_timestamp_[rs::stream::depth] = node_handle.advertise<sensor_msgs::Image>("/camera/depth/image_raw_hw_timestamp", 1);
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image_publishers_hw_timestamp_[rs::stream::fisheye] = node_handle.advertise<sensor_msgs::Image>("/camera/fisheye/image_raw_hw_timestamp", 1);
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imu_publishers_[RS_EVENT_IMU_GYRO] = node_handle.advertise< sensor_msgs::Imu >("camera/gyro/sample", 100);
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imu_publishers_[RS_EVENT_IMU_ACCEL] = node_handle.advertise< sensor_msgs::Imu >("camera/accel/sample", 100);
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stream_callback_per_stream[stream] = [this,stream](rs::frame frame)
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{
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image_[stream].data = (unsigned char *) frame.get_data();
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ros::Time t = ros::Time::now();
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if ((true == isZR300_) && (rs::timestamp_domain::microcontroller != frame.get_frame_timestamp_domain()))
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{
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ROS_ERROR_STREAM("error: Junk time stamp in stream:" << (int)(stream) <<
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"\twith frame counter:" << frame.get_frame_number());
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return;
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}
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// We compute a ROS timestamp which is based on an initial ROS time at point of first frame,
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// and the incremental timestamp from the camera.
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if(false == intialize_time_base_)
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{
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intialize_time_base_ = true;
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ros_time_base_ = ros::Time::now();
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camera_time_base_ = frame.get_timestamp();
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}
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double elapsed_camera_ms = (/*ms*/ frame.get_timestamp() - /*ms*/ camera_time_base_) / /*ms to seconds*/ 1000;
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ros::Time t(ros_time_base_.toSec() + elapsed_camera_ms);
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// If this stream is associated with depth and we have at least one point cloud subscriber,
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// service it here.
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if((stream == rs::stream::depth) && (0 != pointcloud_publisher_.getNumSubscribers()))
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publishPCTopic(t);
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seq_[stream] += 1;
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if((0 != image_publishers_[stream].getNumSubscribers()) ||
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(0 != image_publishers_hw_timestamp_[stream].getNumSubscribers()))
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seq_[stream] += 1;
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if((0 != info_publisher_[stream].getNumSubscribers()) ||
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(0 != image_publishers_[stream].getNumSubscribers()))
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{
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sensor_msgs::ImagePtr img;
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img = cv_bridge::CvImage(std_msgs::Header(), encoding_[stream], image_[stream]).toImageMsg();
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img->header.stamp = t;
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img->header.seq = seq_[stream];
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// ROS Timestamp
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if(0 != image_publishers_[stream].getNumSubscribers())
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image_publishers_[stream].publish(img);
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// Camera HW Timestamp for realsense_ros_slam
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if(0 != image_publishers_hw_timestamp_[stream].getNumSubscribers())
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{
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if (rs::timestamp_domain::microcontroller != frame.get_frame_timestamp_domain())
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{
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ROS_ERROR_STREAM("error: Junk time stamp in stream:" << (int)(stream) <<
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"\twith frame counter:" << frame.get_frame_number());
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}
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else
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{
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img->header.stamp = ros::Time(frame.get_timestamp());
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image_publishers_hw_timestamp_[stream].publish(img);
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}
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}
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}
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if(0 != image_publishers_[stream].getNumSubscribers())
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{
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image_publishers_[stream].publish(img);
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camera_info_[stream].header.stamp = t;
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camera_info_[stream].header.seq = seq_[stream];
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info_publisher_[stream].publish(camera_info_[stream]);
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{
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// Needed to align image timestamps to common clock-domain with the motion events
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device_->set_option(rs::option::fisheye_strobe, 1);
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// This option causes the fisheye image to be aquired in-sync with the depth image.
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device_->set_option(rs::option::fisheye_external_trigger, 1);
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device_->set_option(rs::option::fisheye_color_auto_exposure, 1);
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if( 0 == imu_publishers_[motionType].getNumSubscribers())
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return;
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if(false == intialize_time_base_)
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return;
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double elapsed_camera_ms = (/*ms*/ entry.timestamp_data.timestamp - /*ms*/ camera_time_base_) / /*ms to seconds*/ 1000;
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ros::Time t(ros_time_base_.toSec() + elapsed_camera_ms);
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sensor_msgs::Imu imu_msg = sensor_msgs::Imu();
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imu_msg.header.stamp = ros::Time::now();
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imu_msg.header.frame_id = optical_imu_id_[motionType];
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imu_msg.orientation.x = 0.0;
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imu_msg.orientation.y = 0.0;
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}
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seq_motion[motionType] += 1;
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imu_msg.header.seq = seq_motion[motionType];
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imu_msg.header.stamp = ros::Time(entry.timestamp_data.timestamp);
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imu_msg.header.stamp = t;
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imu_publishers_[motionType].publish(imu_msg);
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};
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704704
// R200 and ZR300 types
705705
std::map<rs::stream, image_transport::Publisher> image_publishers_;
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std::map<rs::stream, ros::Publisher> image_publishers_hw_timestamp_;
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std::map<rs::stream, int> image_format_;
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std::map<rs::stream, rs::format> format_;
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std::map<rs::stream, ros::Publisher> info_publisher_;
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std::map<rs::stream, std::function<void(rs::frame)>> stream_callback_per_stream;
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std::map<rs::stream, sensor_msgs::CameraInfo> camera_info_;
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ros::Publisher pointcloud_publisher_;
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bool intialize_time_base_;
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double camera_time_base_;
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ros::Time ros_time_base_;
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// ZR300 specific types
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bool isZR300_ = false;

‎realsense_ros_object/CHANGELOG.rst‎

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Changelog for package realsense_ros_object
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.8.4 (2017-04-28)
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------------------
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0.8.3 (2017-04-21)
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------------------
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‎realsense_ros_object/package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>realsense_ros_object</name>
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<version>0.8.3</version>
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<version>0.8.4</version>
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<description>The realsense_ros_object package</description>
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<maintainer email="[email protected]">Intel RealSense</maintainer>
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<license>Apache 2.0</license>

‎realsense_ros_person/CHANGELOG.rst‎

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Changelog for package realsense_ros_person
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.8.4 (2017-04-28)
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------------------
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* Fixed broken dependencies in packages, causing rosdep to fail when building on clean machine
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* Contributors: Matt Curfman
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0.8.3 (2017-04-21)
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------------------
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* Added instructions for record/playback

‎realsense_ros_person/package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>realsense_ros_person</name>
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<version>0.8.3</version>
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<version>0.8.4</version>
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<description>The realsense_ros_person package</description>
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<maintainer email="[email protected]">Intel RealSense</maintainer>
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<license>Apache 2.0</license>
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<build_depend>roscpp_serialization</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>realsense_msgs</build_depend>
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<build_depend>realsense_srvs</build_depend>
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<run_depend>cv_bridge</run_depend>
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<run_depend>image_transport</run_depend>
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<run_depend>message_filters</run_depend>
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2725
<run_depend>roscpp</run_depend>
2826
<run_depend>std_msgs</run_depend>
2927
<run_depend>rostime</run_depend>
30-
<run_depend>realsense_camera</run_depend>
28+
<run_depend>realsense_ros_camera</run_depend>
3129
<run_depend>roscpp_serialization</run_depend>
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<run_depend>rospy</run_depend>
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<run_depend>sensor_msgs</run_depend>

‎realsense_ros_slam/CHANGELOG.rst‎

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Changelog for package realsense_ros_slam
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

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0.8.4 (2017-04-28)
6+
------------------
7+
* Fixed broken dependencies in packages, causing rosdep to fail when building on clean machine
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* ROS timestamp fixes
9+
* Added launch arguments for loading of occupancy map and relocalization map.
10+
* Contributors: Ben Hirashima, Matt Curfman
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0.8.3 (2017-04-21)
613
------------------
714
* Added a service to save slam output to files.

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