Initial commit of the bringup package for the realsense depth camera.

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(iri_realsense_depth_bringup)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES iri_realsense_depth_bringup
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/iri_realsense_depth_bringup.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/iri_realsense_depth_bringup_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_realsense_depth_bringup.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

+# Description
+
+This ROS package contains the launch files to set up and configure the Velodyne 
+lidar driver in ROS. This package uses the [Velodyne ROS driver](http://wiki.ros.org/velodyne)
+as the sensor driver together with the
+[iri_velodyne_lidar_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_description)
+to provide a conveninet way to integrate it to both RVIZ and Gazebo.
+
+# Dependencies
+
+This node has the following dependencies:
+
+ * [Velodyne ROS driver](http://wiki.ros.org/velodyne): please follow the 
+instructions on section 2 to properly set up the node.
+
+ * [iri_velodyne_lidar_description](https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_description)
+
+# Install
+
+This package, as well as all IRI dependencies, can be installed by cloning the
+repository inside the active workspace:
+
+```
+roscd
+cd ../src
+git clone https://gitlab.iri.upc.edu/labrobotica/ros/sensors/ranger3d/iri_velodyne_lidar_bringup.git 
+```
+
+However, this package is normally used as part of a wider installation (i.e. a
+robot, an experiment or a demosntration) which will normally include a complete
+rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
+
+Make sure to follow the installation instructions in section 2 of the
+[Velodyne ROS driver](http://wiki.ros.org/velodyne) webpage.
+
+To install the Linux and ROS dependencies, execute the following command:
+
+```
+sudo apt-get install ros-kinetc-velodyne
+```
+
+# How to use it
+
+The *velodyne_vlp32.launch* and the *velodyne_vlp16.launch* launch files are 
+intended to be included in any launch file that needs the lidar sensor. They
+both have the following parameters:
+
+ * config_file: (default: iri_velodyne_lidar_bringup/config/velodyne_vlp\*_lidar_default_config.yaml) 
+a configuration file with all the parameters supported by the
+[Velodyne ROS driver](http://wiki.ros.org/velodyne). See its documentation for a
+detailed description of all the parameters.
+
+ * node_name: (default: velodyne) name given to the rosaria node.
+
+ * output: (default: log) the desired output for all nodes. Possible values for
+this parameter are log and screen.
+
+ * launch_prefix: (default: none)
+ 
+A default YAML configuration file for each of the supported versions are provided 
+in the config folder, but each application should define a new file with the 
+desired parameters and pass it to this launch file.
+
+See the [Velodyne ROS driver](http://wiki.ros.org/velodyne) for a complete list
+of all topics and services provided by this node.
+
+To remap the topics and services of the driver, use a global remap command.
+
+Also, an example launch file is provided (velodyne_vlp16_test.launch).
+

config/realsense_d435_default_config.yaml

+manager: 'realsense2_camera_manager'
+serial_no: ''
+tf_prefix: ''
+json_file_path: ''
+rosbag_filename: ''
+depth: 'depth'
+infra1: 'infra1'
+infra2: 'infra2'
+rgb: 'color'
+fisheye: 'fisheye'
+accel: 'accel'
+gyro: 'gyro'
+
+fisheye_width: 640
+fisheye_height: 480
+enable_fisheye: true
+
+depth_width: 640
+depth_height: 480
+enable_depth: true
+
+infra1_width: 640
+infra1_height: 480
+enable_infra1: true
+
+infra2_width: 640
+infra2_height: 480
+enable_infra2: true
+
+color_width: 640
+color_height: 480
+enable_color: true
+
+fisheye_fps: 30
+depth_fps: 30
+infra1_fps: 30
+infra2_fps: 30
+color_fps: 30
+gyro_fps: 1000
+accel_fps: 1000
+enable_imu: true
+
+enable_pointcloud: false
+pointcloud_texture_stream: 'RS2_STREAM_COLOR'
+pointcloud_texture_index: 0
+
+enable_sync: false
+align_depth: false
+  
+base_frame_id: camera_link
+depth_frame_id: camera_depth_frame
+infra1_frame_id: camera_infra1_frame
+infra2_frame_id: camera_infra2_frame
+color_frame_id: camera_color_frame
+  
+depth_optical_frame_id: camera_depth_optical_frame
+infra1_optical_frame_id: camera_infra1_optical_frame
+infra2_optical_frame_id: camera_infra2_optical_frame
+color_optical_frame_id: camera_color_optical_frame
+fisheye_optical_frame_id: camera_fisheye_optical_frame
+accel_optical_frame_id: camera_accel_optical_frame
+gyro_optical_frame_id: camera_gyro_optical_frame
+  
+aligned_depth_to_color_frame_id: camera_aligned_depth_to_color_frame
+aligned_depth_to_infra1_frame_id: camera_aligned_depth_to_infra1_frame
+aligned_depth_to_infra2_frame_id: camera_aligned_depth_to_infra2_frame
+aligned_depth_to_fisheye_frame_id: camera_aligned_depth_to_fisheye_frame
+
+filters: ''
+

launch/realsense.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="config_file" default="$(find iri_bno055_imu_bringup)/config/bno055_default_config.yaml" />
+
+  <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
+    <rosparam file="$(arg config_file)" command="load" />
+  </include>
+</launch>
+

launch/realsense_test.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="config_file" default="$(find iri_bno055_imu_bringup)/config/bno055_default_config.yaml" />
+
+  <param name="robot_description"
+         command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_d435_camera.urdf.xacro'" />
+
+  <include file="$(find iri_realsense_depth_bringup)/launch/realsense.launch">
+    <arg name="config_file"  value="$(arg config_file)"/>
+  </include>
+
+  <node name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find iri_bno055_imu_bringup)/rviz/bno055_imu.rviz"/>
+
+</launch>
+

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>iri_realsense_depth_bringup</name>
+  <version>0.0.0</version>
+  <description>The iri_realsense_depth_bringup package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>LGPL</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/iri_realsense_depth_bringup</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <author email="labrobotica@iri.upc.edu">labrobotica</author>
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

rviz/velodyne.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.547222197
+    Tree Height: 591
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        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
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        velodyne_base:
+          Value: true
+        velodyne_example_velodyne:
+          Value: true
+        velodyne_example_velodyne_base:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        velodyne_base:
+          velodyne_example_velodyne_base:
+            velodyne_example_velodyne:
+              {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        velodyne_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        velodyne_example_velodyne:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        velodyne_example_velodyne_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: 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/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 239
+      Min Color: 0; 0; 0
+      Min Intensity: 1
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Flat Squares
+      Topic: /velodyne_points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: velodyne_base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.785398185
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398185
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 804
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002defc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002de000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a9000002de00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1305
+  X: 65
+  Y: 24