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.
IntelRealSense · Apr 21, 2017 · b3642e5 · b3642e5
1 parent 8fbf672
commit b3642e5
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diff --git a/realsense_ros_camera/CHANGELOG.rst b/realsense_ros_camera/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package realsense_ros_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.3 (2017-04-21)
+------------------
+* Added URDF models for R200 and ZR300 cameras
+* Added Pointcloud and Laserscan suppor
+* Fixed crashes that sometimes occured at node shutdown
+* Contributors: Ben Hirashima, Matt Curfman
+
 0.8.2 (2017-04-04)
 ------------------
 * Bug fixes and updates

diff --git a/realsense_ros_camera/CMakeLists.txt b/realsense_ros_camera/CMakeLists.txt
@@ -12,6 +12,13 @@ find_package(catkin REQUIRED COMPONENTS
   tf
 )
 
+find_package(OpenMP REQUIRED)
+if(OPENMP_FOUND)
+ set(OpenMP_LIBS gomp)
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif()
+
 find_package(OpenCV 3 REQUIRED)
 #find_package(librealsense 1 REQUIRED) librealsense package currently lacks required pkgconfig file
 
@@ -54,6 +61,7 @@ target_link_libraries(realsense_ros_camera
    ${catkin_LIBRARIES}
    ${OpenCV_LIBRARIES}
    ${CMAKE_THREAD_LIBS_INIT}
+   ${OpenMP_LIBS}
  )
 
 if (CATKIN_ENABLE_TESTING)

diff --git a/realsense_ros_camera/include/realsense_ros_camera/constants.h b/realsense_ros_camera/include/realsense_ros_camera/constants.h
@@ -30,6 +30,7 @@ const bool ENABLE_FISHEYE = true;
 
 const double ROTATION_IDENTITY[] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
 const float MILLIMETER_METERS  = 0.001;
+const float MAX_Z = 3.5f; // meters
 
 const std::string DEFAULT_BASE_FRAME_ID = "camera_link";
 const std::string DEFAULT_DEPTH_FRAME_ID = "camera_depth_frame";

diff --git a/realsense_ros_camera/launch/camera.launch b/realsense_ros_camera/launch/camera.launch
@@ -10,8 +10,8 @@
   <arg name="fisheye_width"       default="640" />
   <arg name="fisheye_height"      default="480" />
   <arg name="enable_fisheye"      default="false" />
-  <arg name="depth_width"         default="480" />
-  <arg name="depth_height"        default="360" />
+  <arg name="depth_width"         default="320" />
+  <arg name="depth_height"        default="240" />
   <arg name="enable_depth"        default="true" />
   <arg name="color_width"         default="640" />
   <arg name="color_height"        default="480" />
@@ -21,7 +21,7 @@
   <arg name="color_fps"           default="30" />
 
   <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen"/> 
-  <node pkg="nodelet" type="nodelet" name="realsense_ros_$(arg camera)" args="load realsense_ros_camera/NodeletCamera $(arg manager)" output="screen">
+  <node pkg="nodelet" type="nodelet" name="realsense_ros_$(arg camera)" args="load realsense_ros_camera/NodeletCamera $(arg manager) --no-bond" output="screen">
     <param name="serial_no"                type="str"  value="$(arg serial_no)" />
 
     <param name="fisheye_width"            type="int"  value="$(arg fisheye_width)" />

diff --git a/realsense_ros_camera/launch/demo_pointcloud_and_laser.launch b/realsense_ros_camera/launch/demo_pointcloud_and_laser.launch
@@ -0,0 +1,23 @@
+<launch>
+  <arg name="manager" default="realsense_ros_camera_manager"/>
+
+  <include file="$(find realsense_ros_camera)/launch/camera.launch">
+    <arg name="manager" value="$(arg manager)"/>
+    <arg name="depth_width" value="320"/>
+    <arg name="depth_height" value="240"/>
+    <arg name="color_width" value="320"/>
+    <arg name="color_height" value="240"/>
+    <arg name="enable_depth" value="true"/>
+    <arg name="enable_color" value="true"/>
+  </include>
+
+  <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan" args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet $(arg manager) --no-bond">
+    <param name="scan_height" type="int" value="10" />
+    <param name="range_min" type="double" value="0.35" />
+    <param name="range_max" type="double" value="4.0" />
+    <remap from="image" to="/camera/depth/image_raw"/>
+    <remap from="camera_info" to="/camera/depth/camera_info"/>
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_ros_camera)/rviz/pointcloud_and_laser_view.rviz" required="true" />
+</launch>
diff --git a/realsense_ros_camera/launch/demo_r200_camera.launch b/realsense_ros_camera/launch/demo_r200_camera.launch
@@ -1,11 +1,11 @@
 <launch>
   <include file="$(find realsense_ros_camera)/launch/camera.launch">
-    <arg name="depth_width" value="640"/>
-    <arg name="depth_height" value="480"/>
+    <arg name="depth_width" value="320"/>
+    <arg name="depth_height" value="240"/>
     <arg name="enable_depth" value="true"/>
 
-    <arg name="color_width" value="1920"/>
-    <arg name="color_height" value="1080"/> 
+    <arg name="color_width" value="640"/>
+    <arg name="color_height" value="480"/> 
     <arg name="enable_color" value="true"/>
   </include>
 

diff --git a/realsense_ros_camera/launch/demo_zr300_camera.launch b/realsense_ros_camera/launch/demo_zr300_camera.launch
@@ -4,8 +4,8 @@
     <arg name="fisheye_height" value="480"/>
     <arg name="enable_fisheye" value="true"/>
 
-    <arg name="depth_width" value="640"/>
-    <arg name="depth_height" value="480"/>
+    <arg name="depth_width" value="320"/>
+    <arg name="depth_height" value="240"/>
     <arg name="enable_depth" value="true"/>
 
     <arg name="color_width" value="1920"/>

diff --git a/realsense_ros_camera/launch/play_bag.launch b/realsense_ros_camera/launch/play_bag.launch
@@ -1,5 +1,6 @@
 <launch>
-  <node pkg="nodelet" type="nodelet" name="realsense_ros_camera_manager"  args="manager" output="screen"/>
+  <arg name="manager" default="realsense_ros_camera_manager"/>
+  <node pkg="nodelet" type="nodelet" name="$(arg manager)"  args="manager" output="screen"/>
 
   <arg name="bag_path" default="$(env HOME)/test.bag" />
   <node pkg="rosbag" type="play" name="rosbag" args="$(arg bag_path)"/>

diff --git a/realsense_ros_camera/launch/view_r200_model.launch b/realsense_ros_camera/launch/view_r200_model.launch
@@ -0,0 +1,8 @@
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_ros_camera)/urdf/test_r200_camera.urdf.xacro'" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+    <arg name="gui" default="True" />
+    <param name="use_gui" value="$(arg gui)"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_ros_camera)/rviz/urdf.rviz" required="true" />
+</launch>
diff --git a/realsense_ros_camera/launch/view_zr300_model.launch b/realsense_ros_camera/launch/view_zr300_model.launch
@@ -0,0 +1,8 @@
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_ros_camera)/urdf/test_zr300_camera.urdf.xacro'" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+    <arg name="gui" default="True" />
+    <param name="use_gui" value="$(arg gui)"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense_ros_camera)/rviz/urdf.rviz" required="true" />
+</launch>
diff --git a/realsense_ros_camera/meshes/r200/r200.dae b/realsense_ros_camera/meshes/r200/r200.dae
diff --git a/realsense_ros_camera/meshes/r200/r200.jpg b/realsense_ros_camera/meshes/r200/r200.jpg
diff --git a/realsense_ros_camera/meshes/zr300/zr300.dae b/realsense_ros_camera/meshes/zr300/zr300.dae
diff --git a/realsense_ros_camera/meshes/zr300/zr300_face.png b/realsense_ros_camera/meshes/zr300/zr300_face.png
diff --git a/realsense_ros_camera/package.xml b/realsense_ros_camera/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>realsense_ros_camera</name>
-  <version>0.8.2</version>
+  <version>0.8.3</version>
   <description>The realsense_ros_camera package</description>
   <maintainer email="[email protected]">Intel RealSense</maintainer>
   <license>Apache 2.0</license>

diff --git a/realsense_ros_camera/rviz/pointcloud_and_laser_view.rviz b/realsense_ros_camera/rviz/pointcloud_and_laser_view.rviz
@@ -0,0 +1,169 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 747
+  - 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
+    - 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: 85; 0; 255
+      Color Transformer: FlatColor
+      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
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 1
+      Size (m): 0.00999999978
+      Style: Points
+      Topic: /camera/points
+      Unreliable: false
+      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/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      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: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: camera_link
+    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/ThirdPersonFollower
+      Distance: 3.48406529
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.697073579
+        Y: -0.280089796
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.659797728
+      Target Frame: <Fixed Frame>
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 3.15039515
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1028
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000037afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000023e000001640000000000000000000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000037a000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000062b0000003efc0100000002fb0000000800540069006d006501000000000000062b0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a60000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1579
+  X: 290
+  Y: 24