remove unsupported models

IntelRealSense · Aug 10, 2023 · e05a75b · e05a75b
1 parent c785bf5
commit e05a75b
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Showing 22 changed files with 46 additions and 580 deletions.
diff --git a/.travis.yml b/.travis.yml
diff --git a/README.md b/README.md
@@ -142,8 +142,8 @@
   - Install dependencies
    ```bash
    sudo apt-get install python3-rosdep -y
-   sudo rosdep init # "sudo rosdep init --include-eol-distros" for Eloquent and earlier
-   rosdep update # "sudo rosdep update --include-eol-distros" for Eloquent and earlier
+   sudo rosdep init # "sudo rosdep init --include-eol-distros" for Foxy and earlier
+   rosdep update # "sudo rosdep update --include-eol-distros" for Foxy and earlier
    rosdep install -i --from-path src --rosdistro $ROS_DISTRO --skip-keys=librealsense2 -y
    ```
 
@@ -200,13 +200,13 @@
   - They have, at least, the **profile** parameter.
     - The profile parameter is a string of the following format: \<width>X\<height>X\<fps> (The dividing character can be X, x or ",". Spaces are ignored.)
     - For example: ```depth_module.profile:=640x480x30 rgb_camera.profile:=1280x720x30```
-    - Since infra, infra1, infra2, fisheye, fisheye1, fisheye2 and depth are all streams of the depth_module, their width, height and fps are defined by the same param **depth_module.profile**
+    - Since infra, infra1, infra2 and depth are all streams of the depth_module, their width, height and fps are defined by the same param **depth_module.profile**
     - If the specified combination of parameters is not available by the device, the default or previously set configuration will be used.
       - Run ```ros2 param describe <your_node_name> <param_name>``` to get the list of supported profiles.
     - Note: Should re-enable the stream for the change to take effect.
   - ***<stream_name>*_format**
     - This parameter is a string used to select the stream format.
-    - <stream_name> can be any of *infra, infra1, infra2, color, depth, fisheye, fisheye1, fisheye2*.
+    - <stream_name> can be any of *infra, infra1, infra2, color, depth*.
     - For example: ```depth_module.depth_format:=Z16 depth_module.infra1_format:=y8 rgb_camera.color_format:=RGB8```
     - This parameter supports both lower case and upper case letters.
     - If the specified parameter is not available by the stream, the default or previously set configuration will be used.
@@ -217,14 +217,14 @@
     - Run ```rs-enumerate-devices``` command to know the list of profiles supported by the connected sensors.
 - **enable_*<stream_name>***: 
   - Choose whether to enable a specified stream or not. Default is true for images and false for orientation streams.
-  - <stream_name> can be any of *infra, infra1, infra2, color, depth, fisheye, fisheye1, fisheye2, gyro, accel, pose*.
+  - <stream_name> can be any of *infra, infra1, infra2, color, depth, gyro, accel*.
   - For example: ```enable_infra1:=true enable_color:=false```
 - **enable_sync**:
   - gathers closest frames of different sensors, infra red, color and depth, to be sent with the same timetag.
   - This happens automatically when such filters as pointcloud are enabled.
 - ***<stream_type>*_qos**: 
   - Sets the QoS by which the topic is published.
-  - <stream_type> can be any of *infra, infra1, infra2, color, depth, fisheye, fisheye1, fisheye2, gyro, accel, pose*.
+  - <stream_type> can be any of *infra, infra1, infra2, color, depth, gyro, accel*.
   -  Available values are the following strings: `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA`.
   - For example: ```depth_qos:=SENSOR_DATA```
   - Reference: [ROS2 QoS profiles formal documentation](https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html#qos-profiles)
@@ -270,7 +270,6 @@
   - For example: `initial_reset:=true`
 - ***<stream_name>*_frame_id**, ***<stream_name>*_optical_frame_id**, **aligned_depth_to_*<stream_name>*_frame_id**: Specify the different frame_id for the different frames. Especially important when using multiple cameras.
 - **base_frame_id**: defines the frame_id all static transformations refers to.
-- **odom_frame_id**: defines the origin coordinate system in ROS convention (X-Forward, Y-Left, Z-Up). pose topic defines the pose relative to that system.
 
 - **unite_imu_method**:
   - D400 cameras have built in IMU components which produce 2 unrelated streams, each with it's own frequency: 
@@ -299,8 +298,6 @@
   - 0 or negative values mean no diagnostics topic is published. Defaults to 0.</br>
 The `/diagnostics` topic includes information regarding the device temperatures and actual frequency of the enabled streams.
 
-- **publish_odom_tf**: If True (default) publish TF from odom_frame to pose_frame.
-
 <hr>
 
 <h3 id="coordination">

diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
@@ -144,23 +144,7 @@ set(SOURCES
 if(NOT DEFINED ENV{ROS_DISTRO})
   message(FATAL_ERROR "ROS_DISTRO is not defined." )
 endif()
-if("$ENV{ROS_DISTRO}" STREQUAL "dashing")
-  message(STATUS "Build for ROS2 Dashing")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DDASHING")
-  set(SOURCES "${SOURCES}" src/ros_param_backend_dashing.cpp)
-elseif("$ENV{ROS_DISTRO}" STREQUAL "eloquent")
-  message(STATUS "Build for ROS2 eloquent")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DELOQUENT")
-  set(SOURCES "${SOURCES}" src/ros_param_backend_foxy.cpp)
-elseif("$ENV{ROS_DISTRO}" STREQUAL "foxy")
-  message(STATUS "Build for ROS2 Foxy")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFOXY")
-  set(SOURCES "${SOURCES}" src/ros_param_backend_foxy.cpp)
-elseif("$ENV{ROS_DISTRO}" STREQUAL "galactic")
-  message(STATUS "Build for ROS2 Galactic")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGALACTIC")
-  set(SOURCES "${SOURCES}" src/ros_param_backend_foxy.cpp)
-elseif("$ENV{ROS_DISTRO}" STREQUAL "humble")
+if("$ENV{ROS_DISTRO}" STREQUAL "humble")
   message(STATUS "Build for ROS2 Humble")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHUMBLE")
   set(SOURCES "${SOURCES}" src/ros_param_backend_foxy.cpp)

diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h
@@ -40,7 +40,6 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
-#include <nav_msgs/msg/odometry.hpp>
 
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2_ros/transform_broadcaster.h>
@@ -249,7 +248,6 @@ namespace realsense2_camera
         void FillImuData_LinearInterpolation(const CimuData imu_data, std::deque<sensor_msgs::msg::Imu>& imu_msgs);
         void imu_callback(rs2::frame frame);
         void imu_callback_sync(rs2::frame frame, imu_sync_method sync_method=imu_sync_method::COPY);
-        void pose_callback(rs2::frame frame);
         void multiple_message_callback(rs2::frame frame, imu_sync_method sync_method);
         void frame_callback(rs2::frame frame);
 
@@ -295,7 +293,6 @@ namespace realsense2_camera
         std::map<stream_index_pair, std::shared_ptr<image_publisher>> _image_publishers;
 
         std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr> _imu_publishers;
-        std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Odometry>> _odom_publisher;
         std::shared_ptr<SyncedImuPublisher> _synced_imu_publisher;
         std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr> _info_publishers;
         std::map<stream_index_pair, rclcpp::Publisher<realsense2_camera_msgs::msg::Metadata>::SharedPtr> _metadata_publishers;
@@ -316,7 +313,6 @@ namespace realsense2_camera
         bool _is_color_enabled;
         bool _is_depth_enabled;
         bool _pointcloud;
-        bool _publish_odom_tf;
         imu_sync_method _imu_sync_method;
         stream_index_pair _pointcloud_texture;
         PipelineSyncer _syncer;

diff --git a/realsense2_camera/include/constants.h b/realsense2_camera/include/constants.h
@@ -31,18 +31,6 @@
 #define ROS_WARN(...) RCLCPP_WARN(_logger, __VA_ARGS__)
 #define ROS_ERROR(...) RCLCPP_ERROR(_logger, __VA_ARGS__)
 
-#ifdef DASHING
-// Based on: https://docs.ros2.org/dashing/api/rclcpp/logging_8hpp.html
-#define MSG(msg) (static_cast<std::ostringstream&&>(std::ostringstream() << msg)).str()
-#define ROS_DEBUG_STREAM(msg) RCLCPP_DEBUG(_logger, MSG(msg))
-#define ROS_INFO_STREAM(msg) RCLCPP_INFO(_logger, MSG(msg))
-#define ROS_WARN_STREAM(msg) RCLCPP_WARN(_logger, MSG(msg))
-#define ROS_ERROR_STREAM(msg) RCLCPP_ERROR(_logger, MSG(msg))
-#define ROS_FATAL_STREAM(msg) RCLCPP_FATAL(_logger, MSG(msg))
-#define ROS_DEBUG_STREAM_ONCE(msg) RCLCPP_DEBUG_ONCE(_logger, MSG(msg))
-#define ROS_INFO_STREAM_ONCE(msg) RCLCPP_INFO_ONCE(_logger, MSG(msg))
-#define ROS_WARN_STREAM_COND(cond, msg) RCLCPP_WARN_EXPRESSION(_logger, cond, MSG(msg))
-#else
 // Based on: https://docs.ros2.org/foxy/api/rclcpp/logging_8hpp.html
 #define ROS_DEBUG_STREAM(msg) RCLCPP_DEBUG_STREAM(_logger, msg)
 #define ROS_INFO_STREAM(msg) RCLCPP_INFO_STREAM(_logger, msg)
@@ -52,15 +40,12 @@
 #define ROS_DEBUG_STREAM_ONCE(msg) RCLCPP_DEBUG_STREAM_ONCE(_logger, msg)
 #define ROS_INFO_STREAM_ONCE(msg) RCLCPP_INFO_STREAM_ONCE(_logger, msg)
 #define ROS_WARN_STREAM_COND(cond, msg) RCLCPP_WARN_STREAM_EXPRESSION(_logger, cond, msg)
-#endif
 
 #define ROS_WARN_ONCE(msg) RCLCPP_WARN_ONCE(_logger, msg)
 #define ROS_WARN_COND(cond, ...) RCLCPP_WARN_EXPRESSION(_logger, cond, __VA_ARGS__)
 
 namespace realsense2_camera
 {
-    const uint16_t SR300_PID        = 0x0aa5; // SR300
-    const uint16_t SR300v2_PID      = 0x0B48; // SR305
     const uint16_t RS400_PID        = 0x0ad1; // PSR
     const uint16_t RS410_PID        = 0x0ad2; // ASR
     const uint16_t RS415_PID        = 0x0ad3; // ASRC
@@ -80,11 +65,7 @@ namespace realsense2_camera
     const uint16_t RS430i_PID       = 0x0b4b; // D430i
     const uint16_t RS405_PID        = 0x0B5B; // DS5U
     const uint16_t RS455_PID        = 0x0B5C; // D455
-    const uint16_t RS457_PID        = 0xABCD; // D457
-    const uint16_t RS_L515_PID_PRE_PRQ = 0x0B3D; // 
-    const uint16_t RS_L515_PID      = 0x0B64; // 
-    const uint16_t RS_L535_PID      = 0x0b68;
-
+    const uint16_t RS457_PID        = 0xABCD; // D457   
 
     const bool ALLOW_NO_TEXTURE_POINTS = false;
     const bool ORDERED_PC     = false;
@@ -100,15 +81,10 @@ namespace realsense2_camera
     const std::string HID_QOS         = "SENSOR_DATA";
 
     const bool HOLD_BACK_IMU_FOR_FRAMES = false;
-    const bool PUBLISH_ODOM_TF = true;
 
     const std::string DEFAULT_BASE_FRAME_ID            = "link";
-    const std::string DEFAULT_ODOM_FRAME_ID            = "odom_frame";
     const std::string DEFAULT_IMU_OPTICAL_FRAME_ID     = "camera_imu_optical_frame";
 
-    const std::string DEFAULT_UNITE_IMU_METHOD         = "";
-    const std::string DEFAULT_FILTERS                  = "";
-
     const float ROS_DEPTH_SCALE = 0.001;
 
     static const rmw_qos_profile_t rmw_qos_profile_latched =

diff --git a/realsense2_camera/include/image_publisher.h b/realsense2_camera/include/image_publisher.h
@@ -17,11 +17,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
-#if defined( DASHING ) || defined( ELOQUENT )
-#include <image_transport/image_transport.h>
-#else
 #include <image_transport/image_transport.hpp>
-#endif
 
 namespace realsense2_camera {
 class image_publisher

diff --git a/realsense2_camera/include/ros_utils.h b/realsense2_camera/include/ros_utils.h
@@ -31,12 +31,8 @@ namespace realsense2_camera
     const stream_index_pair INFRA0{RS2_STREAM_INFRARED, 0};
     const stream_index_pair INFRA1{RS2_STREAM_INFRARED, 1};
     const stream_index_pair INFRA2{RS2_STREAM_INFRARED, 2};
-    const stream_index_pair FISHEYE{RS2_STREAM_FISHEYE, 0};
-    const stream_index_pair FISHEYE1{RS2_STREAM_FISHEYE, 1};
-    const stream_index_pair FISHEYE2{RS2_STREAM_FISHEYE, 2};
     const stream_index_pair GYRO{RS2_STREAM_GYRO, 0};
     const stream_index_pair ACCEL{RS2_STREAM_ACCEL, 0};
-    const stream_index_pair POSE{RS2_STREAM_POSE, 0};
 
     bool isValidCharInName(char c);
 

diff --git a/realsense2_camera/launch/rs_launch.py b/realsense2_camera/launch/rs_launch.py
@@ -51,8 +51,6 @@
                            {'name': 'accel_fps',                    'default': '0', 'description': "''"},
                            {'name': 'enable_gyro',                  'default': 'false', 'description': "'enable gyro stream'"},
                            {'name': 'enable_accel',                 'default': 'false', 'description': "'enable accel stream'"},
-                           {'name': 'enable_pose',                  'default': 'true', 'description': "'enable pose stream'"},
-                           {'name': 'pose_fps',                     'default': '200', 'description': "''"},
                            {'name': 'pointcloud.enable',            'default': 'false', 'description': ''},
                            {'name': 'pointcloud.stream_filter',     'default': '2', 'description': 'texture stream for pointcloud'},
                            {'name': 'pointcloud.stream_index_filter','default': '0', 'description': 'texture stream index for pointcloud'},
@@ -96,36 +94,20 @@ def launch_setup(context, params, param_name_suffix=''):
     _config_file = LaunchConfiguration('config_file' + param_name_suffix).perform(context)
     params_from_file = {} if _config_file == "''" else yaml_to_dict(_config_file)
     # Realsense
-    if (os.getenv('ROS_DISTRO') == "dashing") or (os.getenv('ROS_DISTRO') == "eloquent"):
-        return [
-            launch_ros.actions.Node(
-                package='realsense2_camera',
-                node_namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),
-                node_name=LaunchConfiguration('camera_name' + param_name_suffix),
-                node_executable='realsense2_camera_node',
-                prefix=['stdbuf -o L'],
-                parameters=[params
-                            , params_from_file
-                            ],
-                output='screen',
-                arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
-                )
-            ]
-    else:
-        return [
-            launch_ros.actions.Node(
-                package='realsense2_camera',
-                namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),
-                name=LaunchConfiguration('camera_name' + param_name_suffix),
-                executable='realsense2_camera_node',
-                parameters=[params
-                            , params_from_file
-                            ],
-                output='screen',
-                arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
-                emulate_tty=True,
-                )
-        ]
+    return [
+        launch_ros.actions.Node(
+            package='realsense2_camera',
+            namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),
+            name=LaunchConfiguration('camera_name' + param_name_suffix),
+            executable='realsense2_camera_node',
+            parameters=[params
+                        , params_from_file
+                        ],
+            output='screen',
+            arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
+            emulate_tty=True,
+            )
+    ]
 
 def generate_launch_description():
     return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [

diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml
@@ -3,7 +3,7 @@
 <package format="3">
   <name>realsense2_camera</name>
   <version>4.54.1</version>
-  <description>RealSense camera package allowing access to Intel SR300 and D400 3D cameras</description>
+  <description>RealSense camera package allowing access to Intel D400 3D cameras</description>
   <maintainer email="[email protected]">LibRealSense ROS Team</maintainer>
   <license>Apache License 2.0</license>
 

diff --git a/realsense2_camera/scripts/rs2_listener.py b/realsense2_camera/scripts/rs2_listener.py
@@ -24,13 +24,8 @@
 import struct
 import quaternion
 import os
-if (os.getenv('ROS_DISTRO') != "dashing"):
-    import tf2_ros
-if (os.getenv('ROS_DISTRO') == "humble"):
-    from sensor_msgs.msg import PointCloud2 as msg_PointCloud2
-    from sensor_msgs_py import point_cloud2 as pc2
-# from sensor_msgs.msg import PointCloud2 as msg_PointCloud2
-# import sensor_msgs.point_cloud2 as pc2
+from sensor_msgs.msg import PointCloud2 as msg_PointCloud2
+from sensor_msgs_py import point_cloud2 as pc2
 from sensor_msgs.msg import Imu as msg_Imu
 
 try:
@@ -220,9 +215,8 @@ def wait_for_messages(self, themes):
             node.get_logger().info('Subscribing %s on topic: %s' % (theme_name, theme['topic']))
             self.func_data[theme_name]['sub'] = node.create_subscription(theme['msg_type'], theme['topic'], theme['callback'](theme_name), qos.qos_profile_sensor_data)
 
-        if (os.getenv('ROS_DISTRO') != "dashing"):
-            self.tfBuffer = tf2_ros.Buffer()
-            self.tf_listener = tf2_ros.TransformListener(self.tfBuffer, node)
+        self.tfBuffer = tf2_ros.Buffer()
+        self.tf_listener = tf2_ros.TransformListener(self.tfBuffer, node)
 
         self.prev_time = time.time()
         break_timeout = False