From b3642e5248fe41a1dae3eaca56869e5564d7505c Mon Sep 17 00:00:00 2001 From: Matt Curfman Date: Fri, 21 Apr 2017 10:55:40 -0700 Subject: [PATCH] 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. --- realsense_ros_camera/CHANGELOG.rst | 7 + realsense_ros_camera/CMakeLists.txt | 8 + .../include/realsense_ros_camera/constants.h | 1 + realsense_ros_camera/launch/camera.launch | 6 +- .../launch/demo_pointcloud_and_laser.launch | 23 + .../launch/demo_r200_camera.launch | 8 +- .../launch/demo_zr300_camera.launch | 4 +- realsense_ros_camera/launch/play_bag.launch | 3 +- .../launch/view_r200_model.launch | 8 + .../launch/view_zr300_model.launch | 8 + realsense_ros_camera/meshes/r200/r200.dae | 890 ++++++++++++++++++ realsense_ros_camera/meshes/r200/r200.jpg | Bin 0 -> 2508 bytes realsense_ros_camera/meshes/zr300/zr300.dae | 279 ++++++ .../meshes/zr300/zr300_face.png | Bin 0 -> 391667 bytes realsense_ros_camera/package.xml | 2 +- .../rviz/pointcloud_and_laser_view.rviz | 169 ++++ realsense_ros_camera/rviz/urdf.rviz | 192 ++++ realsense_ros_camera/src/camera_node.cpp | 368 +++++--- realsense_ros_camera/test/camera_r200.test | 32 + .../test/{camera.test => camera_zr300.test} | 7 +- realsense_ros_camera/urdf/_r200.urdf.xacro | 75 ++ realsense_ros_camera/urdf/_zr300.urdf.xacro | 99 ++ .../urdf/test_r200_camera.urdf.xacro | 9 + .../urdf/test_zr300_camera.urdf.xacro | 9 + realsense_ros_object/CHANGELOG.rst | 3 + realsense_ros_object/package.xml | 2 +- realsense_ros_person/CHANGELOG.rst | 5 + realsense_ros_person/README.md | 11 + realsense_ros_person/package.xml | 2 +- realsense_ros_slam/CHANGELOG.rst | 7 + realsense_ros_slam/CMakeLists.txt | 6 + realsense_ros_slam/README.md | 6 + .../include/realsense_ros_slam/slam_nodelet.h | 9 +- realsense_ros_slam/launch/demo_slam.launch | 6 +- .../launch/demo_slam_from_bag.launch | 6 +- .../launch/record_bag_slam.launch | 2 +- realsense_ros_slam/launch/setup_demo.launch | 4 +- realsense_ros_slam/launch/slam_nodelet.launch | 3 +- realsense_ros_slam/msg/TrackingAccuracy.msg | 6 + realsense_ros_slam/package.xml | 2 +- realsense_ros_slam/src/slam_nodelet.cpp | 111 ++- realsense_ros_slam/srv/Reset.srv | 2 + realsense_ros_slam/srv/SaveOutput.srv | 2 + 43 files changed, 2205 insertions(+), 197 deletions(-) create mode 100644 realsense_ros_camera/launch/demo_pointcloud_and_laser.launch create mode 100644 realsense_ros_camera/launch/view_r200_model.launch create mode 100644 realsense_ros_camera/launch/view_zr300_model.launch create mode 100644 realsense_ros_camera/meshes/r200/r200.dae create mode 100644 realsense_ros_camera/meshes/r200/r200.jpg create mode 100644 realsense_ros_camera/meshes/zr300/zr300.dae create mode 100644 realsense_ros_camera/meshes/zr300/zr300_face.png create mode 100644 realsense_ros_camera/rviz/pointcloud_and_laser_view.rviz create mode 100644 realsense_ros_camera/rviz/urdf.rviz create mode 100644 realsense_ros_camera/test/camera_r200.test rename realsense_ros_camera/test/{camera.test => camera_zr300.test} (90%) create mode 100644 realsense_ros_camera/urdf/_r200.urdf.xacro create mode 100644 realsense_ros_camera/urdf/_zr300.urdf.xacro create mode 100644 realsense_ros_camera/urdf/test_r200_camera.urdf.xacro create mode 100644 realsense_ros_camera/urdf/test_zr300_camera.urdf.xacro create mode 100644 realsense_ros_slam/srv/Reset.srv create mode 100644 realsense_ros_slam/srv/SaveOutput.srv diff --git a/realsense_ros_camera/CHANGELOG.rst b/realsense_ros_camera/CHANGELOG.rst index aff28ae..4aea589 100644 --- 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 index ae7ffc2..68a1cc6 100644 --- 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 index 66331fc..fcfbda4 100644 --- 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 index 4562e05..ef88e5a 100644 --- a/realsense_ros_camera/launch/camera.launch +++ b/realsense_ros_camera/launch/camera.launch @@ -10,8 +10,8 @@ - - + + @@ -21,7 +21,7 @@ - + diff --git a/realsense_ros_camera/launch/demo_pointcloud_and_laser.launch b/realsense_ros_camera/launch/demo_pointcloud_and_laser.launch new file mode 100644 index 0000000..f8f379e --- /dev/null +++ b/realsense_ros_camera/launch/demo_pointcloud_and_laser.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/realsense_ros_camera/launch/demo_r200_camera.launch b/realsense_ros_camera/launch/demo_r200_camera.launch index 3e53bc0..fdfae4f 100644 --- a/realsense_ros_camera/launch/demo_r200_camera.launch +++ b/realsense_ros_camera/launch/demo_r200_camera.launch @@ -1,11 +1,11 @@ - - + + - - + + diff --git a/realsense_ros_camera/launch/demo_zr300_camera.launch b/realsense_ros_camera/launch/demo_zr300_camera.launch index a7db80f..7ced84d 100644 --- a/realsense_ros_camera/launch/demo_zr300_camera.launch +++ b/realsense_ros_camera/launch/demo_zr300_camera.launch @@ -4,8 +4,8 @@ - - + + diff --git a/realsense_ros_camera/launch/play_bag.launch b/realsense_ros_camera/launch/play_bag.launch index 0c2d73a..65287c7 100644 --- a/realsense_ros_camera/launch/play_bag.launch +++ b/realsense_ros_camera/launch/play_bag.launch @@ -1,5 +1,6 @@ - + + diff --git a/realsense_ros_camera/launch/view_r200_model.launch b/realsense_ros_camera/launch/view_r200_model.launch new file mode 100644 index 0000000..012f9a8 --- /dev/null +++ b/realsense_ros_camera/launch/view_r200_model.launch @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/realsense_ros_camera/launch/view_zr300_model.launch b/realsense_ros_camera/launch/view_zr300_model.launch new file mode 100644 index 0000000..cdc67f3 --- /dev/null +++ b/realsense_ros_camera/launch/view_zr300_model.launch @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/realsense_ros_camera/meshes/r200/r200.dae b/realsense_ros_camera/meshes/r200/r200.dae new file mode 100644 index 0000000..c1ebc6a --- /dev/null +++ b/realsense_ros_camera/meshes/r200/r200.dae @@ -0,0 +1,890 @@ + + + + + Google SketchUp 8.0.4811 + + 2015-05-31T08:41:34Z + 2015-05-31T08:41:34Z + + Z_UP + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.1184986753859656 7.755517072645532 2.24409448818898 51.06260368681876 7.755517072645532 2.165354330708662 0.1184986753859656 7.755517072645532 2.165354330708662 51.06260368681876 7.755517072645532 2.24409448818898 0.1184986753859656 7.755517072645532 2.24409448818898 0.1184986753859656 2.804370064010866 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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: + 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: + 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 diff --git a/realsense_ros_camera/rviz/urdf.rviz b/realsense_ros_camera/rviz/urdf.rviz new file mode 100644 index 0000000..63fe44b --- /dev/null +++ b/realsense_ros_camera/rviz/urdf.rviz @@ -0,0 +1,192 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /RobotModel1/Link/Joint Tree1 + - /RobotModel1/Link/Joint Tree1/base_link1 + - /RobotModel1/Link/Joint Tree1/base_link1/Details1 + Splitter Ratio: 0.636029422 + Tree Height: 595 + - 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: "" +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: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Link/Joint Tree: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Tree of links and joints + base_link: + Details: + Alpha: 1 + Show Axes: true + Show Trail: false + camera_joint: + Details: + Show Axes: false + Value: true + camera_link: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_joint: + Details: + Show Axes: false + camera_rgb_frame: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_joint: + Details: + Show Axes: false + camera_depth_frame: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_joint: + Details: + Show Axes: false + camera_depth_optical_frame: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_joint: + Details: + Show Axes: false + camera_rgb_optical_frame: + Details: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_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: 0.409323573 + 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: true + Focal Shape Size: 0.0500000007 + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0 + Target Frame: + Value: ThirdPersonFollower (rviz) + Yaw: 0 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 876 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000232000002e2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e2000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002e2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055f0000003efc0100000002fb0000000800540069006d006501000000000000055f0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000212000002e200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1375 + X: 65 + Y: 24 diff --git a/realsense_ros_camera/src/camera_node.cpp b/realsense_ros_camera/src/camera_node.cpp index c6869fb..42e56f4 100644 --- a/realsense_ros_camera/src/camera_node.cpp +++ b/realsense_ros_camera/src/camera_node.cpp @@ -1,6 +1,7 @@ // License: Apache 2.0. See LICENSE file in root directory. // Copyright(c) 2017 Intel Corporation. All Rights Reserved +#include #include #include #include @@ -18,6 +19,8 @@ #include #include #include +#include +#include #include #include #include @@ -26,118 +29,33 @@ #include -// R200 and ZR300 types -std::map image_publishers_; -std::map image_format_; -std::map format_; -std::map info_publisher_; -std::map image_; -std::map encoding_; -std::string base_frame_id_; -std::map frame_id_; -std::map optical_frame_id_; -std::string imu_frame_id_, optical_imu_frame_id_; -std::map seq_; -std::map unit_step_size_; -std::map> stream_callback_per_stream; -std::map camera_info_; - -// ZR300 specific types -bool isZR300_ = false; -ros::Publisher accelInfo_publisher_, gyroInfo_publisher_, fe2imu_publisher_, fe2depth_publisher_; -ros::Publisher imu_publishers_[2] = {};//accel 0 gyro 1 -int seq_motion[2] = {0, 0}; -std::string optical_imu_id_[2] = {"imu_accel_frame_id", "imu_gyro_frame_id"}; - - namespace realsense_ros_camera { -void getImuInfo(rs::device* device, IMUInfo &accelInfo, IMUInfo &gyroInfo) -{ - rs::motion_intrinsics imuIntrinsics = device->get_motion_intrinsics(); - - accelInfo.header.frame_id = "imu_accel"; - int index = 0; - for (int i = 0; i < 3; ++i) - { - for (int j = 0; j < 4; ++j) - { - accelInfo.data[index] = imuIntrinsics.acc.data[i][j]; - ++index; - } - accelInfo.noise_variances[i] = imuIntrinsics.acc.noise_variances[i]; - accelInfo.bias_variances[i] = imuIntrinsics.acc.bias_variances[i]; - } - - gyroInfo.header.frame_id = "imu_gyro"; - index = 0; - for (int i = 0; i < 3; ++i) - { - for (int j = 0; j < 4; ++j) - { - gyroInfo.data[index] = imuIntrinsics.gyro.data[i][j]; - ++index; - } - gyroInfo.noise_variances[i] = imuIntrinsics.gyro.noise_variances[i]; - gyroInfo.bias_variances[i] = imuIntrinsics.gyro.bias_variances[i]; - } -} - -Extrinsics rsExtrinsicsToMsg(rs::extrinsics rsExtrinsics) -{ - Extrinsics extrinsicsMsg; - - for (int i = 0; i < 9; ++i) - { - extrinsicsMsg.rotation[i] = rsExtrinsics.rotation[i]; - if (i < 3) extrinsicsMsg.translation[i] = rsExtrinsics.translation[i]; - } - - return extrinsicsMsg; -} - -Extrinsics getFisheye2ImuExtrinsicsMsg(rs::device* device) -{ - Extrinsics extrinsicsMsg = rsExtrinsicsToMsg(device->get_motion_extrinsics_from(rs::stream::fisheye)); - extrinsicsMsg.header.frame_id = "fisheye2imu_extrinsics"; - return extrinsicsMsg; -} - -Extrinsics getFisheye2DepthExtrinsicsMsg(rs::device* device) -{ - Extrinsics extrinsicsMsg = rsExtrinsicsToMsg(device->get_extrinsics(rs::stream::depth, rs::stream::fisheye)); - extrinsicsMsg.header.frame_id = "fisheye2depth_extrinsics"; - return extrinsicsMsg; -} - class NodeletCamera: public nodelet::Nodelet { public: NodeletCamera() : cameraStarted_(false) { - // libRealsense format types for stream - format_[rs::stream::depth] = rs::format::z16; - format_[rs::stream::color] = rs::format::rgb8; - format_[rs::stream::fisheye] = rs::format::raw8; - - // CVBridge native image types - image_format_[rs::stream::depth] = CV_16UC1; - image_format_[rs::stream::color] = CV_8UC3; - image_format_[rs::stream::fisheye] = CV_8UC1; - - // ROS sensor_msgs::ImagePtr encoding types - encoding_[rs::stream::depth] = sensor_msgs::image_encodings::TYPE_16UC1; - encoding_[rs::stream::color] = sensor_msgs::image_encodings::RGB8; - encoding_[rs::stream::fisheye] = sensor_msgs::image_encodings::TYPE_8UC1; - - // ROS sensor_msgs::ImagePtr row step sizes - unit_step_size_[rs::stream::depth] = sizeof(uint16_t); - unit_step_size_[rs::stream::color] = sizeof(unsigned char) * 3; - unit_step_size_[rs::stream::fisheye] = sizeof(unsigned char); - + // Types for depth stream + format_[rs::stream::depth] = rs::format::z16; // libRS type + image_format_[rs::stream::depth] = CV_16UC1; // CVBridge type + encoding_[rs::stream::depth] = sensor_msgs::image_encodings::TYPE_16UC1; // ROS message type + unit_step_size_[rs::stream::depth] = sizeof(uint16_t); // sensor_msgs::ImagePtr row step size stream_name_[rs::stream::depth] = "depth"; + + // Types for color stream + format_[rs::stream::color] = rs::format::rgb8; // libRS type + image_format_[rs::stream::color] = CV_8UC3; // CVBridge type + encoding_[rs::stream::color] = sensor_msgs::image_encodings::RGB8; // ROS message type + unit_step_size_[rs::stream::color] = sizeof(unsigned char) * 3; // sensor_msgs::ImagePtr row step size stream_name_[rs::stream::color] = "color"; + + // Types for fisheye stream + format_[rs::stream::fisheye] = rs::format::raw8; // libRS type + image_format_[rs::stream::fisheye] = CV_8UC1; // CVBridge type + encoding_[rs::stream::fisheye] = sensor_msgs::image_encodings::TYPE_8UC1; // ROS message type + unit_step_size_[rs::stream::fisheye] = sizeof(unsigned char); // sensor_msgs::ImagePtr row step size stream_name_[rs::stream::fisheye] = "fisheye"; } @@ -150,16 +68,9 @@ class NodeletCamera: public nodelet::Nodelet else device_->stop(); } - ctx_.reset(); - const rs::stream All[] = { rs::stream::depth, rs::stream::color, rs::stream::fisheye }; - for (const auto stream : All) - { - if (false == enable_[stream]) - continue; - image_publishers_[stream].shutdown(); - } - image_publishers_.clear(); + usleep(250); + ctx_.reset(); } private: @@ -206,6 +117,9 @@ class NodeletCamera: public nodelet::Nodelet pnh_.param("color_optical_frame_id", optical_frame_id_[rs::stream::color], DEFAULT_COLOR_OPTICAL_FRAME_ID); pnh_.param("fisheye_optical_frame_id", optical_frame_id_[rs::stream::fisheye], DEFAULT_FISHEYE_OPTICAL_FRAME_ID); pnh_.param("imu_optical_frame_id", optical_imu_frame_id_, DEFAULT_IMU_OPTICAL_FRAME_ID); + + optical_imu_id_[0] = "imu_accel_frame_id"; + optical_imu_id_[1] = "imu_gyro_frame_id"; }//end getParameters @@ -284,6 +198,8 @@ class NodeletCamera: public nodelet::Nodelet image_publishers_[rs::stream::depth] = image_transport.advertise("camera/depth/image_raw", 1); info_publisher_[rs::stream::depth] = node_handle.advertise< sensor_msgs::CameraInfo >("camera/depth/camera_info", 1); + + pointcloud_publisher_ = node_handle.advertise("/camera/points", 1); } if (isZR300_) @@ -293,6 +209,11 @@ class NodeletCamera: public nodelet::Nodelet info_publisher_[rs::stream::fisheye] = node_handle.advertise< sensor_msgs::CameraInfo >("camera/fisheye/camera_info", 1); + // HW timestamp version of image publishers, for realsense_ros_slam package + image_publishers_hw_timestamp_[rs::stream::color] = node_handle.advertise("/camera/color/image_raw_hw_timestamp", 1); + image_publishers_hw_timestamp_[rs::stream::depth] = node_handle.advertise("/camera/depth/image_raw_hw_timestamp", 1); + image_publishers_hw_timestamp_[rs::stream::fisheye] = node_handle.advertise("/camera/fisheye/image_raw_hw_timestamp", 1); + imu_publishers_[RS_EVENT_IMU_GYRO] = node_handle.advertise< sensor_msgs::Imu >("camera/gyro/sample", 100); imu_publishers_[RS_EVENT_IMU_ACCEL] = node_handle.advertise< sensor_msgs::Imu >("camera/accel/sample", 100); @@ -316,37 +237,54 @@ class NodeletCamera: public nodelet::Nodelet continue; // Define lambda callback for receiving stream data - stream_callback_per_stream[stream] = [stream](rs::frame frame) + stream_callback_per_stream[stream] = [this,stream](rs::frame frame) { - if (isZR300_) + image_[stream].data = (unsigned char *) frame.get_data(); + ros::Time t = ros::Time::now(); + + if((stream == rs::stream::depth) && (0 != pointcloud_publisher_.getNumSubscribers())) + publishPCTopic(t); + + seq_[stream] += 1; + if((0 != image_publishers_[stream].getNumSubscribers()) || + (0 != image_publishers_hw_timestamp_[stream].getNumSubscribers())) { - const auto timestampDomain = frame.get_frame_timestamp_domain(); - if (rs::timestamp_domain::microcontroller != timestampDomain) + sensor_msgs::ImagePtr img; + img = cv_bridge::CvImage(std_msgs::Header(), encoding_[stream], image_[stream]).toImageMsg(); + img->width = image_[stream].cols; + img->height = image_[stream].rows; + img->is_bigendian = false; + img->step = image_[stream].cols * unit_step_size_[stream]; + img->header.frame_id = optical_frame_id_[stream]; + img->header.stamp = t; + img->header.seq = seq_[stream]; + + // ROS Timestamp + if(0 != image_publishers_[stream].getNumSubscribers()) + image_publishers_[stream].publish(img); + + // Camera HW Timestamp for realsense_ros_slam + if(0 != image_publishers_hw_timestamp_[stream].getNumSubscribers()) { - ROS_ERROR_STREAM("error: Junk time stamp in stream:" << (int)(stream) << - "\twith frame counter:" << frame.get_frame_number()); - return ; + if (rs::timestamp_domain::microcontroller != frame.get_frame_timestamp_domain()) + { + ROS_ERROR_STREAM("error: Junk time stamp in stream:" << (int)(stream) << + "\twith frame counter:" << frame.get_frame_number()); + } + else + { + img->header.stamp = ros::Time(frame.get_timestamp()); + image_publishers_hw_timestamp_[stream].publish(img); + } } } - - image_[stream].data = (unsigned char *) frame.get_data(); - - sensor_msgs::ImagePtr img; - img = cv_bridge::CvImage(std_msgs::Header(), encoding_[stream], image_[stream]).toImageMsg(); - img->width = image_[stream].cols; - img->height = image_[stream].rows; - img->is_bigendian = false; - img->step = image_[stream].cols * unit_step_size_[stream]; - seq_[stream] += 1; - - img->header.frame_id = optical_frame_id_[stream]; - img->header.stamp = ros::Time(frame.get_timestamp()); - img->header.seq = seq_[stream]; - image_publishers_[stream].publish(img); - - camera_info_[stream].header.stamp = img->header.stamp; - camera_info_[stream].header.seq = img->header.seq; - info_publisher_[stream].publish(camera_info_[stream]); + + if(0 != image_publishers_[stream].getNumSubscribers()) + { + camera_info_[stream].header.stamp = t; + camera_info_[stream].header.seq = seq_[stream]; + info_publisher_[stream].publish(camera_info_[stream]); + } }; // Enable the stream @@ -372,16 +310,24 @@ class NodeletCamera: public nodelet::Nodelet // This option causes the fisheye image to be aquired in-sync with the depth image. device_->set_option(rs::option::fisheye_external_trigger, 1); device_->set_option(rs::option::fisheye_color_auto_exposure, 1); - + seq_motion[RS_EVENT_IMU_GYRO] = 0; + seq_motion[RS_EVENT_IMU_ACCEL] = 0; + //define callback to the motion events and set it. std::function motion_callback; - motion_callback = [](rs::motion_data entry) + motion_callback = [this](rs::motion_data entry) { if ((entry.timestamp_data.source_id != RS_EVENT_IMU_GYRO) && (entry.timestamp_data.source_id != RS_EVENT_IMU_ACCEL)) return; rs_event_source motionType = entry.timestamp_data.source_id; + + // If there is nobody subscribed to the stream, do no further + // processing + if( 0 == imu_publishers_[motionType].getNumSubscribers()) + return; + sensor_msgs::Imu imu_msg = sensor_msgs::Imu(); imu_msg.header.stamp = ros::Time::now(); imu_msg.header.frame_id = optical_imu_id_[motionType]; @@ -474,7 +420,7 @@ class NodeletCamera: public nodelet::Nodelet switch ((int32_t)intrinsic.model()) { case 0: - camera_info_[stream].distortion_model = "none"; + camera_info_[stream].distortion_model = "plumb_bob"; break; case 1: // This is the same as "modified_brown_conrady", but used by ROS @@ -622,6 +568,122 @@ class NodeletCamera: public nodelet::Nodelet } } + void publishPCTopic(ros::Time t) + { + rs::intrinsics depth_intrinsic = device_->get_stream_intrinsics(rs::stream::depth); + float depth_scale_meters = device_->get_depth_scale(); + + sensor_msgs::PointCloud2 msg_pointcloud; + msg_pointcloud.header.stamp = t; + msg_pointcloud.header.frame_id = optical_frame_id_[rs::stream::depth]; + msg_pointcloud.width = depth_intrinsic.width; + msg_pointcloud.height = depth_intrinsic.height; + msg_pointcloud.is_dense = true; + + sensor_msgs::PointCloud2Modifier modifier(msg_pointcloud); + modifier.setPointCloud2Fields(3, + "x", 1, sensor_msgs::PointField::FLOAT32, + "y", 1, sensor_msgs::PointField::FLOAT32, + "z", 1, sensor_msgs::PointField::FLOAT32); + modifier.setPointCloud2FieldsByString(1, "xyz"); + + for (int v = 0; v < depth_intrinsic.height; v++) + for (int u = 0; u < depth_intrinsic.width; u++) + { + float depth_point[3], scaled_depth; + uint16_t depth_value; + int depth_offset, cloud_offset; + + // Offset into point cloud data, for point at u, v + cloud_offset = (v * msg_pointcloud.row_step) + (u * msg_pointcloud.point_step); + + // Retrieve depth value, and scale it in terms of meters + depth_offset = (u * sizeof(uint16_t)) + (v * sizeof(uint16_t) * depth_intrinsic.width); + memcpy(&depth_value, &image_[rs::stream::depth].data[depth_offset], sizeof(uint16_t)); + scaled_depth = static_cast(depth_value) * depth_scale_meters; + if (scaled_depth <= 0.0f || scaled_depth > MAX_Z) + { + // Depth value is invalid, so zero it out. + depth_point[0] = 0.0f; + depth_point[1] = 0.0f; + depth_point[2] = 0.0f; + } + else + { + // Convert depth image to points in 3D space + float depth_pixel[2] = {static_cast(u), static_cast(v)}; + rs_deproject_pixel_to_point(depth_point, &depth_intrinsic, depth_pixel, scaled_depth); + } + + // Assign 3d point + memcpy(&msg_pointcloud.data[cloud_offset + msg_pointcloud.fields[0].offset], &depth_point[0], sizeof(float)); // X + memcpy(&msg_pointcloud.data[cloud_offset + msg_pointcloud.fields[1].offset], &depth_point[1], sizeof(float)); // Y + memcpy(&msg_pointcloud.data[cloud_offset + msg_pointcloud.fields[2].offset], &depth_point[2], sizeof(float)); // Z + } // for + + pointcloud_publisher_.publish(msg_pointcloud); + } + + + void getImuInfo(rs::device* device, IMUInfo &accelInfo, IMUInfo &gyroInfo) + { + rs::motion_intrinsics imuIntrinsics = device->get_motion_intrinsics(); + + accelInfo.header.frame_id = "imu_accel"; + int index = 0; + for (int i = 0; i < 3; ++i) + { + for (int j = 0; j < 4; ++j) + { + accelInfo.data[index] = imuIntrinsics.acc.data[i][j]; + ++index; + } + accelInfo.noise_variances[i] = imuIntrinsics.acc.noise_variances[i]; + accelInfo.bias_variances[i] = imuIntrinsics.acc.bias_variances[i]; + } + + gyroInfo.header.frame_id = "imu_gyro"; + index = 0; + for (int i = 0; i < 3; ++i) + { + for (int j = 0; j < 4; ++j) + { + gyroInfo.data[index] = imuIntrinsics.gyro.data[i][j]; + ++index; + } + gyroInfo.noise_variances[i] = imuIntrinsics.gyro.noise_variances[i]; + gyroInfo.bias_variances[i] = imuIntrinsics.gyro.bias_variances[i]; + } + } + + Extrinsics rsExtrinsicsToMsg(rs::extrinsics rsExtrinsics) + { + Extrinsics extrinsicsMsg; + + for (int i = 0; i < 9; ++i) + { + extrinsicsMsg.rotation[i] = rsExtrinsics.rotation[i]; + if (i < 3) extrinsicsMsg.translation[i] = rsExtrinsics.translation[i]; + } + + return extrinsicsMsg; + } + + Extrinsics getFisheye2ImuExtrinsicsMsg(rs::device* device) + { + Extrinsics extrinsicsMsg = rsExtrinsicsToMsg(device->get_motion_extrinsics_from(rs::stream::fisheye)); + extrinsicsMsg.header.frame_id = "fisheye2imu_extrinsics"; + return extrinsicsMsg; + } + + Extrinsics getFisheye2DepthExtrinsicsMsg(rs::device* device) + { + Extrinsics extrinsicsMsg = rsExtrinsicsToMsg(device->get_extrinsics(rs::stream::depth, rs::stream::fisheye)); + extrinsicsMsg.header.frame_id = "fisheye2depth_extrinsics"; + return extrinsicsMsg; + } + + private: ros::NodeHandle node_handle, pnh_; bool cameraStarted_; @@ -638,9 +700,33 @@ class NodeletCamera: public nodelet::Nodelet std::map enable_; std::map stream_name_; tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_; + + // R200 and ZR300 types + std::map image_publishers_; + std::map image_publishers_hw_timestamp_; + std::map image_format_; + std::map format_; + std::map info_publisher_; + std::map image_; + std::map encoding_; + std::string base_frame_id_; + std::map frame_id_; + std::map optical_frame_id_; + std::string imu_frame_id_, optical_imu_frame_id_; + std::map seq_; + std::map unit_step_size_; + std::map> stream_callback_per_stream; + std::map camera_info_; + ros::Publisher pointcloud_publisher_; + + // ZR300 specific types + bool isZR300_ = false; + ros::Publisher accelInfo_publisher_, gyroInfo_publisher_, fe2imu_publisher_, fe2depth_publisher_; + ros::Publisher imu_publishers_[2]; + int seq_motion[2]; + std::string optical_imu_id_[2]; };//end class PLUGINLIB_DECLARE_CLASS(realsense_ros_camera, NodeletCamera, realsense_ros_camera::NodeletCamera, nodelet::Nodelet); }//end namespace - diff --git a/realsense_ros_camera/test/camera_r200.test b/realsense_ros_camera/test/camera_r200.test new file mode 100644 index 0000000..ab46b60 --- /dev/null +++ b/realsense_ros_camera/test/camera_r200.test @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_ros_camera/test/camera.test b/realsense_ros_camera/test/camera_zr300.test similarity index 90% rename from realsense_ros_camera/test/camera.test rename to realsense_ros_camera/test/camera_zr300.test index 5e1cf58..b9fe744 100644 --- a/realsense_ros_camera/test/camera.test +++ b/realsense_ros_camera/test/camera_zr300.test @@ -28,15 +28,16 @@ - + - diff --git a/realsense_ros_camera/urdf/_r200.urdf.xacro b/realsense_ros_camera/urdf/_r200.urdf.xacro new file mode 100644 index 0000000..3db6b26 --- /dev/null +++ b/realsense_ros_camera/urdf/_r200.urdf.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_ros_camera/urdf/_zr300.urdf.xacro b/realsense_ros_camera/urdf/_zr300.urdf.xacro new file mode 100644 index 0000000..6e2af25 --- /dev/null +++ b/realsense_ros_camera/urdf/_zr300.urdf.xacro @@ -0,0 +1,99 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/realsense_ros_camera/urdf/test_r200_camera.urdf.xacro b/realsense_ros_camera/urdf/test_r200_camera.urdf.xacro new file mode 100644 index 0000000..f73ebd8 --- /dev/null +++ b/realsense_ros_camera/urdf/test_r200_camera.urdf.xacro @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/realsense_ros_camera/urdf/test_zr300_camera.urdf.xacro b/realsense_ros_camera/urdf/test_zr300_camera.urdf.xacro new file mode 100644 index 0000000..f08470b --- /dev/null +++ b/realsense_ros_camera/urdf/test_zr300_camera.urdf.xacro @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/realsense_ros_object/CHANGELOG.rst b/realsense_ros_object/CHANGELOG.rst index 543f434..3d2c892 100644 --- a/realsense_ros_object/CHANGELOG.rst +++ b/realsense_ros_object/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package realsense_ros_object ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.8.3 (2017-04-21) +------------------ + 0.8.2 (2017-04-04) ------------------ * Bug fixes and updates diff --git a/realsense_ros_object/package.xml b/realsense_ros_object/package.xml index 2f896ad..0c797a5 100755 --- a/realsense_ros_object/package.xml +++ b/realsense_ros_object/package.xml @@ -1,7 +1,7 @@ realsense_ros_object - 0.8.2 + 0.8.3 The realsense_ros_object package Intel RealSense Apache 2.0 diff --git a/realsense_ros_person/CHANGELOG.rst b/realsense_ros_person/CHANGELOG.rst index faf48ad..296ef04 100644 --- a/realsense_ros_person/CHANGELOG.rst +++ b/realsense_ros_person/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package realsense_ros_person ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.8.3 (2017-04-21) +------------------ +* Added instructions for record/playback +* Contributors: Stanislav Gutliansky + 0.8.2 (2017-04-04) ------------------ * Bug fixes and updates diff --git a/realsense_ros_person/README.md b/realsense_ros_person/README.md index 701bfc8..34c7903 100644 --- a/realsense_ros_person/README.md +++ b/realsense_ros_person/README.md @@ -134,6 +134,17 @@ $ roslaunch realsense_ros_person demo_person_skeleton.launch ```bash $ roslaunch realsense_ros_person demo_person_face_features.launch ``` + + +### Recorging a bag file: +```bash +$ roslaunch realsense_ros_person record_bag_person.launch bag_path:=mypath +``` +### Running person demo from bag: +```bash +$ roslaunch realsense_ros_person demo_person_tracking_from_bag.launch bag_path:=mypath +``` + ## Testing The person package can be tested with pre-recorded data using the provided ROS unit test. No physical camera needs to be present in order to run the test. The following steps can be used to build the unit test and download the pre-recorded ROS .bag data: diff --git a/realsense_ros_person/package.xml b/realsense_ros_person/package.xml index f60806d..ec89b20 100644 --- a/realsense_ros_person/package.xml +++ b/realsense_ros_person/package.xml @@ -1,7 +1,7 @@ realsense_ros_person - 0.8.2 + 0.8.3 The realsense_ros_person package Intel RealSense Apache 2.0 diff --git a/realsense_ros_slam/CHANGELOG.rst b/realsense_ros_slam/CHANGELOG.rst index 714585b..f1a2860 100644 --- a/realsense_ros_slam/CHANGELOG.rst +++ b/realsense_ros_slam/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package realsense_ros_slam ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +0.8.3 (2017-04-21) +------------------ +* Added a service to save slam output to files. +* Added reset service to slam. +* Run slam and camera nodelets in the same node. +* Contributors: Ben Hirashima, Matt Curfman + 0.8.2 (2017-04-04) ------------------ * Bug fixes and updates diff --git a/realsense_ros_slam/CMakeLists.txt b/realsense_ros_slam/CMakeLists.txt index 96847da..aa9112a 100644 --- a/realsense_ros_slam/CMakeLists.txt +++ b/realsense_ros_slam/CMakeLists.txt @@ -27,6 +27,12 @@ add_message_files( TrackingAccuracy.msg ) +add_service_files( + FILES + Reset.srv + SaveOutput.srv +) + generate_messages( DEPENDENCIES sensor_msgs diff --git a/realsense_ros_slam/README.md b/realsense_ros_slam/README.md index de05f1f..86f3a33 100644 --- a/realsense_ros_slam/README.md +++ b/realsense_ros_slam/README.md @@ -134,6 +134,12 @@ To use realsense_ros_slam, you need a mobile agent with a RealSense ZR300 camera - `double` - Sets the maximum depth of interest for the occupancy map, in meters. +### Services + +`realsense_ros_slam/reset` +- Resets SLAM so that all subsequent poses are relative to the current position. +- Clears the occupancy map. + ## Usage To run the slam engine: diff --git a/realsense_ros_slam/include/realsense_ros_slam/slam_nodelet.h b/realsense_ros_slam/include/realsense_ros_slam/slam_nodelet.h index a50e601..e564af0 100644 --- a/realsense_ros_slam/include/realsense_ros_slam/slam_nodelet.h +++ b/realsense_ros_slam/include/realsense_ros_slam/slam_nodelet.h @@ -36,6 +36,8 @@ #include #include #include +#include +#include namespace realsense_ros_slam { @@ -76,7 +78,8 @@ class SNodeletSlam: public nodelet::Nodelet sensor_msgs::CameraInfoConstPtr depthCameraInfo_, fisheyeCameraInfo_; realsense_ros_camera::IMUInfoConstPtr accelInfo_, gyroInfo_; realsense_ros_camera::ExtrinsicsConstPtr fe2imu_, fe2depth_; - std::mutex mut_init; + std::mutex mut_init_; + std::unique_ptr slam_; void depthInfoCallback(const sensor_msgs::CameraInfoConstPtr& depthCameraInfo); void fisheyeInfoCallback(const sensor_msgs::CameraInfoConstPtr& fisheyeCameraInfo); void accelInfoCallback(const realsense_ros_camera::IMUInfoConstPtr& accelInfo); @@ -89,6 +92,8 @@ class SNodeletSlam: public nodelet::Nodelet void setStreamConfigIntrin(rs::core::stream_type stream, std::map< rs::core::stream_type, rs::core::intrinsics > intrinsics); void setMotionData(realsense_ros_camera::IMUInfo& imu_res, rs::core::motion_device_intrinsics& motion_intrin); void setMotionConfigIntrin(rs::core::motion_type motion, std::map< rs::core::motion_type, rs::core::motion_device_intrinsics > motion_intrinsics); - void setExtrinData(realsense_ros_camera::Extrinsics& fe_res, rs::core::extrinsics& extrinsics); + void setExtrinData(realsense_ros_camera::Extrinsics& fe_res, rs::core::extrinsics& extrinsics); + bool reset(realsense_ros_slam::Reset::Request &req, realsense_ros_slam::Reset::Response &resp); + bool saveOutput(realsense_ros_slam::SaveOutput::Request &req, realsense_ros_slam::SaveOutput::Response &resp); };//end class } diff --git a/realsense_ros_slam/launch/demo_slam.launch b/realsense_ros_slam/launch/demo_slam.launch index 42278a9..07fd5e4 100644 --- a/realsense_ros_slam/launch/demo_slam.launch +++ b/realsense_ros_slam/launch/demo_slam.launch @@ -1,5 +1,7 @@ + + @@ -8,5 +10,7 @@ - + + + diff --git a/realsense_ros_slam/launch/demo_slam_from_bag.launch b/realsense_ros_slam/launch/demo_slam_from_bag.launch index 68772d4..48b1147 100644 --- a/realsense_ros_slam/launch/demo_slam_from_bag.launch +++ b/realsense_ros_slam/launch/demo_slam_from_bag.launch @@ -5,9 +5,13 @@ roslaunch realsense_ros_slam demo_slam_from_bag.launch bag_path:=my_value --> + + - + + + diff --git a/realsense_ros_slam/launch/record_bag_slam.launch b/realsense_ros_slam/launch/record_bag_slam.launch index f50e55c..a6c8756 100644 --- a/realsense_ros_slam/launch/record_bag_slam.launch +++ b/realsense_ros_slam/launch/record_bag_slam.launch @@ -6,7 +6,7 @@ roslaunch realsense_ros_camera record_bag_slam.launch bag_path:=my_value --> - + diff --git a/realsense_ros_slam/launch/setup_demo.launch b/realsense_ros_slam/launch/setup_demo.launch index a66ff34..8648b33 100644 --- a/realsense_ros_slam/launch/setup_demo.launch +++ b/realsense_ros_slam/launch/setup_demo.launch @@ -1,10 +1,12 @@ + - + + diff --git a/realsense_ros_slam/launch/slam_nodelet.launch b/realsense_ros_slam/launch/slam_nodelet.launch index 15522fb..5d9bddd 100644 --- a/realsense_ros_slam/launch/slam_nodelet.launch +++ b/realsense_ros_slam/launch/slam_nodelet.launch @@ -1,4 +1,5 @@ + @@ -12,7 +13,7 @@ - + diff --git a/realsense_ros_slam/msg/TrackingAccuracy.msg b/realsense_ros_slam/msg/TrackingAccuracy.msg index 9400187..c3a774d 100644 --- a/realsense_ros_slam/msg/TrackingAccuracy.msg +++ b/realsense_ros_slam/msg/TrackingAccuracy.msg @@ -1,2 +1,8 @@ std_msgs/Header header uint32 tracking_accuracy + +#tracking_accuracy types constants +int32 TRACKING_ACCURACY_FAILED=0 +int32 TRACKING_ACCURACY_LOW=1 +int32 TRACKING_ACCURACY_MEDIUM=2 +int32 TRACKING_ACCURACY_HIGH=3 diff --git a/realsense_ros_slam/package.xml b/realsense_ros_slam/package.xml index 5a0b90a..631f74c 100644 --- a/realsense_ros_slam/package.xml +++ b/realsense_ros_slam/package.xml @@ -1,7 +1,7 @@ realsense_ros_slam - 0.8.2 + 0.8.3 The realsense_ros_slam package Intel RealSense Apache 2.0 diff --git a/realsense_ros_slam/src/slam_nodelet.cpp b/realsense_ros_slam/src/slam_nodelet.cpp index 4685164..8a74f4a 100644 --- a/realsense_ros_slam/src/slam_nodelet.cpp +++ b/realsense_ros_slam/src/slam_nodelet.cpp @@ -13,6 +13,7 @@ #include #include #include +#include PLUGINLIB_EXPORT_CLASS(realsense_ros_slam::SNodeletSlam, nodelet::Nodelet) @@ -36,6 +37,8 @@ IplImage * ipNavMap = NULL; std::vector< stRobotPG > g_robotPGStack; std::vector< CvPoint > g_relocalizationPointStack; +ros::ServiceServer reset_srv, save_output_srv; + namespace realsense_ros_slam { @@ -57,8 +60,8 @@ void SubscribeTopics::onInit(ros::NodeHandle & nh, rs::slam::slam * slam) void SubscribeTopics::subscribeStreamMessages() { - std::string depthImageStream = "camera/depth/image_raw"; - std::string fisheyeImageStream = "camera/fisheye/image_raw"; + std::string depthImageStream = "camera/depth/image_raw_hw_timestamp"; + std::string fisheyeImageStream = "camera/fisheye/image_raw_hw_timestamp"; ROS_INFO_STREAM("Listening on " << depthImageStream); ROS_INFO_STREAM("Listening on " << fisheyeImageStream); l_depth_sub = l_nh.subscribe(depthImageStream, 100, & SubscribeTopics::depthMessageCallback, this); @@ -498,63 +501,69 @@ void SNodeletSlam::onInit() sub_gyroInfo = nh.subscribe("camera/gyro/imu_info", 1, &SNodeletSlam::gyroInfoCallback, this); sub_fe2imu = nh.subscribe("camera/extrinsics/fisheye2imu", 1, &SNodeletSlam::fe2ImuCallback, this); sub_fe2depth = nh.subscribe("camera/extrinsics/fisheye2depth", 1, &SNodeletSlam::fe2depthCallback, this); + + reset_srv = nh.advertiseService("realsense_ros_slam/reset", &SNodeletSlam::reset, this); + save_output_srv = nh.advertiseService("realsense_ros_slam/save_output", &SNodeletSlam::saveOutput, this); actual_config = {}; + + slam_ = boost::make_unique(); + ROS_INFO("end of onInit"); }//end onInit void SNodeletSlam::depthInfoCallback(const sensor_msgs::CameraInfoConstPtr& depthCameraInfo) { sub_depthInfo.shutdown(); - mut_init.lock(); + mut_init_.lock(); depthCameraInfo_ = depthCameraInfo; startIfReady(); - mut_init.unlock(); + mut_init_.unlock(); } void SNodeletSlam::fisheyeInfoCallback(const sensor_msgs::CameraInfoConstPtr& fisheyeCameraInfo) { sub_fisheyeInfo.shutdown(); - mut_init.lock(); + mut_init_.lock(); fisheyeCameraInfo_ = fisheyeCameraInfo; startIfReady(); - mut_init.unlock(); + mut_init_.unlock(); } void SNodeletSlam::accelInfoCallback(const realsense_ros_camera::IMUInfoConstPtr& accelInfo) { sub_accelInfo.shutdown(); - mut_init.lock(); + mut_init_.lock(); accelInfo_ = accelInfo; startIfReady(); - mut_init.unlock(); + mut_init_.unlock(); } void SNodeletSlam::gyroInfoCallback(const realsense_ros_camera::IMUInfoConstPtr& gyroInfo) { sub_gyroInfo.shutdown(); - mut_init.lock(); + mut_init_.lock(); gyroInfo_ = gyroInfo; startIfReady(); - mut_init.unlock(); + mut_init_.unlock(); } void SNodeletSlam::fe2ImuCallback(const realsense_ros_camera::ExtrinsicsConstPtr& fe2imu) { sub_fe2imu.shutdown(); - mut_init.lock(); + mut_init_.lock(); fe2imu_ = fe2imu; startIfReady(); - mut_init.unlock(); + mut_init_.unlock(); } void SNodeletSlam::fe2depthCallback(const realsense_ros_camera::ExtrinsicsConstPtr& fe2depth) { sub_fe2depth.shutdown(); - mut_init.lock(); + mut_init_.lock(); fe2depth_ = fe2depth; startIfReady(); - mut_init.unlock(); + mut_init_.unlock(); } void SNodeletSlam::startIfReady() @@ -570,20 +579,19 @@ void SNodeletSlam::startSlam() { ROS_INFO("Staring SLAM..."); - std::unique_ptr slam(new rs::slam::slam()); - slam->set_occupancy_map_resolution(map_resolution); - slam->set_occupancy_map_height_of_interest(hoi_min, hoi_max); - slam->set_occupancy_map_depth_of_interest(doi_min, doi_max); - slam->force_relocalization_pose(false); + slam_->set_occupancy_map_resolution(map_resolution); + slam_->set_occupancy_map_height_of_interest(hoi_min, hoi_max); + slam_->set_occupancy_map_depth_of_interest(doi_min, doi_max); + slam_->force_relocalization_pose(false); slam_event_handler scenePerceptionEventHandler; - slam->register_event_handler(&scenePerceptionEventHandler); + slam_->register_event_handler(&scenePerceptionEventHandler); slam_tracking_event_handler trackingEventHandler; - slam->register_tracking_event_handler(&trackingEventHandler); + slam_->register_tracking_event_handler(&trackingEventHandler); supported_config = {}; - if (slam->query_supported_module_config(0, supported_config) < rs::core::status_no_error) + if (slam_->query_supported_module_config(0, supported_config) < rs::core::status_no_error) { std::cerr << "error : failed to query the first supported module configuration" << std::endl; return ; @@ -617,14 +625,14 @@ void SNodeletSlam::startSlam() actual_config[rs::core::stream_type::fisheye].extrinsics = fe2depth; // Set actual config - if (slam->set_module_config(actual_config) < rs::core::status_no_error) + if (slam_->set_module_config(actual_config) < rs::core::status_no_error) { NODELET_ERROR("error : failed to set the enabled module configuration"); return ; } //slam->load_relocalization_map(relocalizationFilename); - sub.onInit(nh, slam.get()); + sub.onInit(nh, slam_.get()); sub.subscribeStreamMessages(); sub.subscribeMotion(); @@ -634,14 +642,7 @@ void SNodeletSlam::startSlam() r.sleep(); } - std::string result = slam->save_occupancy_map_as_ppm(pkgpath + trajectoryFilename, true) == 0 ? "Saved trajectory to file." : "FAILED to save trajectory to file."; - std::cout << result << std::endl; - result = slam->save_relocalization_map(pkgpath + relocalizationFilename) == 0 ? "Saved relocalization map to file." : "FAILED to save relocalization map to file."; - std::cout << result << std::endl; - result = slam->save_occupancy_map(pkgpath + occupancyFilename) == 0 ? "Saved occupancy map to file." : "FAILED to save occupancy map to file."; - std::cout << result << std::endl; - - slam->flush_resources(); + slam_->flush_resources(); }//end of callback @@ -730,4 +731,50 @@ void SNodeletSlam::setExtrinData(realsense_ros_camera::Extrinsics & fe_res, rs:: } } }//end of setExtrinData + +bool SNodeletSlam::reset(realsense_ros_slam::Reset::Request &req, realsense_ros_slam::Reset::Response &resp) +{ + ROS_INFO("Resetting SLAM..."); + resp.status = slam_->restart() == rs::core::status::status_no_error; + return true; +} + +bool SNodeletSlam::saveOutput(realsense_ros_slam::SaveOutput::Request &req, realsense_ros_slam::SaveOutput::Response &resp) +{ + bool success = true; + + if (slam_->save_occupancy_map_as_ppm(pkgpath + trajectoryFilename, true) == rs::core::status::status_no_error) + { + std::cout << "Saved trajectory to PPM file." << std::endl; + } + else + { + std::cout << "FAILED to save trajectory to PPM file." << std::endl; + success = false; + } + + if(slam_->save_occupancy_map(pkgpath + occupancyFilename) == rs::core::status::status_no_error) + { + std::cout << "Saved occupancy map to BIN file." << std::endl; + } + else + { + std::cout << "FAILED to save occupancy map to BIN file." << std::endl; + success = false; + } + + if(slam_->save_relocalization_map(pkgpath + relocalizationFilename) == rs::core::status::status_no_error) + { + std::cout << "Saved relocalization map to BIN file." << std::endl; + } + else + { + std::cout << "FAILED to save relocalization map to BIN file." << std::endl; + success = false; + } + + resp.status = success; + return true; +} + }//end namespace diff --git a/realsense_ros_slam/srv/Reset.srv b/realsense_ros_slam/srv/Reset.srv new file mode 100644 index 0000000..8d6c057 --- /dev/null +++ b/realsense_ros_slam/srv/Reset.srv @@ -0,0 +1,2 @@ +--- +bool status diff --git a/realsense_ros_slam/srv/SaveOutput.srv b/realsense_ros_slam/srv/SaveOutput.srv new file mode 100644 index 0000000..8d6c057 --- /dev/null +++ b/realsense_ros_slam/srv/SaveOutput.srv @@ -0,0 +1,2 @@ +--- +bool status