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Added ros2 examples #2839

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Sep 5, 2023
Merged

Added ros2 examples #2839

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a3e046a
Added pointcloud and dual camera examples
Arun-Prasad-V Aug 9, 2023
1901d2c
added align_depth and get params from YAML examples
Arun-Prasad-V Aug 14, 2023
b5e57d5
updated rs_launch
Arun-Prasad-V Aug 14, 2023
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6 changes: 6 additions & 0 deletions realsense2_camera/CMakeLists.txt
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How about we add a readme to the examples folder?
And point the main repo readme to it?
We can explane each example, add some screenshot / video gif and usage instructions.
Like we do in LibRS..

Original file line number Diff line number Diff line change
Expand Up @@ -272,6 +272,12 @@ install(DIRECTORY
DESTINATION share/${PROJECT_NAME}
)

# Install example files
install(DIRECTORY
examples
DESTINATION share/${PROJECT_NAME}
)

# Test
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
Expand Down
56 changes: 56 additions & 0 deletions realsense2_camera/examples/align_depth/rs_align_depth_launch.py
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# Copyright 2023 Intel Corporation. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# DESCRIPTION #
# ----------- #
# Use this launch file to launch a device and align depth to color.
# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
# command line example:
# ros2 launch realsense2_camera rs_align_depth_launch.py

"""Launch realsense2_camera node."""
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
import os
from ament_index_python.packages import get_package_share_directory
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch

local_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'name': 'camera_namespace', 'default': 'camera', 'description': 'camera namespace'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'align_depth.enable', 'default': 'true', 'description': 'enable align depth filter'},
{'name': 'enable_sync', 'default': 'true', 'description': 'enable sync mode'},
]

def set_configurable_parameters(local_params):
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])


def generate_launch_description():
params = rs_launch.configurable_parameters
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params)}
)
])
194 changes: 194 additions & 0 deletions realsense2_camera/examples/dual_camera/dual_camera_pointcloud.rviz
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Original file line number Diff line number Diff line change
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Panels:
- Class: rviz_common/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Grid1
- /PointCloud21
- /PointCloud22
Splitter Ratio: 0.5
Tree Height: 865
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera1/depth/color/points
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera2/depth/color/points
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: camera1_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /move_base_simple/goal
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 8.93685531616211
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.18814913928508759
Y: -0.17941315472126007
Z: 0.14549313485622406
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: -1.5697963237762451
Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins)
Yaw: 4.730405330657959
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 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
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1846
X: 74
Y: 27
109 changes: 109 additions & 0 deletions realsense2_camera/examples/dual_camera/rs_dual_camera_launch.py
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# Copyright 2023 Intel Corporation. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# DESCRIPTION #
# ----------- #
# Use this launch file to launch 2 devices.
# The Parameters available for definition in the command line for each camera are described in rs_launch.configurable_parameters
# For each device, the parameter name was changed to include an index.
# For example: to set camera_name for device1 set parameter camera_name1.
# command line example:
# ros2 launch realsense2_camera rs_dual_camera_launch.py camera_name1:=D400 device_type2:=l5. device_type1:=d4..

"""Launch realsense2_camera node."""
import copy
from launch import LaunchDescription, LaunchContext
import launch_ros.actions
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
import os
from ament_index_python.packages import get_package_share_directory
sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
import rs_launch

local_parameters = [{'name': 'camera_name1', 'default': 'camera1', 'description': 'camera unique name'},
{'name': 'camera_name2', 'default': 'camera2', 'description': 'camera unique name'},
{'name': 'camera_namespace1', 'default': 'camera1', 'description': 'camera1 namespace'},
{'name': 'camera_namespace2', 'default': 'camera2', 'description': 'camera2 namespace'},
{'name': 'enable_color1', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_color2', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_depth1', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'enable_depth2', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'pointcloud.enable1', 'default': 'true', 'description': 'enable pointcloud'},
{'name': 'pointcloud.enable2', 'default': 'true', 'description': 'enable pointcloud'},
{'name': 'spatial_filter.enable1', 'default': 'true', 'description': 'enable_spatial_filter'},
{'name': 'spatial_filter.enable2', 'default': 'true', 'description': 'enable_spatial_filter'},
{'name': 'temporal_filter.enable1', 'default': 'true', 'description': 'enable_temporal_filter'},
{'name': 'temporal_filter.enable2', 'default': 'true', 'description': 'enable_temporal_filter'},
{'name': 'tf.translation.x', 'default': '0.0', 'description': 'x'},
{'name': 'tf.translation.y', 'default': '0.0', 'description': 'y'},
{'name': 'tf.translation.z', 'default': '0.0', 'description': 'z'},
{'name': 'tf.rotation.yaw', 'default': '0.0', 'description': 'yaw'},
{'name': 'tf.rotation.pitch', 'default': '0.0', 'description': 'pitch'},
{'name': 'tf.rotation.roll', 'default': '0.0', 'description': 'roll'},
]

def set_configurable_parameters(local_params):
return dict([(param['original_name'], LaunchConfiguration(param['name'])) for param in local_params])

def duplicate_params(general_params, posix):
local_params = copy.deepcopy(general_params)
for param in local_params:
param['original_name'] = param['name']
param['name'] += posix
return local_params

def launch_static_transform_publisher_node(context : LaunchContext):
# dummy static transformation from camera1 to camera2
node = launch_ros.actions.Node(
name = "my_static_transform_publisher",
package = "tf2_ros",
executable = "static_transform_publisher",
arguments = [context.launch_configurations['tf.translation.x'],
context.launch_configurations['tf.translation.y'],
context.launch_configurations['tf.translation.z'],
context.launch_configurations['tf.rotation.yaw'],
context.launch_configurations['tf.rotation.pitch'],
context.launch_configurations['tf.rotation.roll'],
context.launch_configurations['camera_name1'] + "_link",
context.launch_configurations['camera_name2'] + "_link"]
)
return [node]

def generate_launch_description():
params1 = duplicate_params(rs_launch.configurable_parameters, '1')
params2 = duplicate_params(rs_launch.configurable_parameters, '2')
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params1) +
rs_launch.declare_configurable_parameters(params2) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params1),
'param_name_suffix': '1'}),
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params2),
'param_name_suffix': '2'}),
OpaqueFunction(function=launch_static_transform_publisher_node),
launch_ros.actions.Node(
package='rviz2',
namespace='',
executable='rviz2',
name='rviz2',
arguments=['-d', [ThisLaunchFileDir(), '/dual_camera_pointcloud.rviz']]
)
])
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