Add new msgs for Realsense Adpator

README.md

@@ -6,3 +6,4 @@ A set of packages which contain cloi common interface files (.msg and .srv).
 |message name|description|
 |:----------:|-----------|
 |elevator_system_msgs|ROS2 messages and services are described for elevator_system_sim in 'sim-device repository'|
+|realsense_adaptor| ROS2 messages are described for realsensor_adaptor|

realsense_adaptor_msgs/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5)
+project(realsense_adaptor_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+file(GLOB_RECURSE msg_files RELATIVE ${PROJECT_SOURCE_DIR} msg/*.msg)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES builtin_interfaces std_msgs
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

realsense_adaptor_msgs/README.md

@@ -0,0 +1,5 @@
+# RealSense Adaptor Messages for ROS2 realsense adaptor
+
+Synchronize time for depth and color image.
+
+It needs to set data name and unit image data.

realsense_adaptor_msgs/msg/CameraData.msg

@@ -0,0 +1,15 @@
+##
+## Copyright (c) 2020 LG Electronics Inc.
+##
+## SPDX-License-Identifier: MIT
+##
+
+# data_name: ex) color, depth
+# channels: 1 -> 1 channel, 3 -> 3 channel(ex:RGB)
+# data_unit_size: 1 -> unit8, 2 -> uint16
+
+string data_name
+CameraIntrinsic intrinsic
+uint8 channels
+uint8 data_unit_size
+uint8[] data

realsense_adaptor_msgs/msg/CameraIntrinsic.msg

@@ -0,0 +1,17 @@
+##
+## Copyright (c) 2020 LG Electronics Inc.
+##
+## SPDX-License-Identifier: MIT
+##
+
+int32   width
+int32   height
+float32 cx
+float32 cy
+float32 fx
+float32 fy
+float32 hfov
+float32 vfov
+float32 baseline
+float32[5] coeff
+float32 depthscale

realsense_adaptor_msgs/msg/SyncedImage.msg

@@ -0,0 +1,9 @@
+##
+## Copyright (c) 2020 LG Electronics Inc.
+##
+## SPDX-License-Identifier: MIT
+##
+
+std_msgs/Header header
+CameraData color
+CameraData depth

realsense_adaptor_msgs/package.xml

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>realsense_adaptor_msgs</name>
+  <version>0.1.0</version>
+  <description>interfaces for realsense_adaptor are defined.</description>
+  <maintainer email="[email protected]">Hyunseok Yang</maintainer>
+
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>std_msgs</depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>