Merge pull request #1 from lge-ros2/main

move realsense_adpator_msgs from cloi_common_interface
lge-ros2 · May 18, 2021 · 6b070a9 · 6b070a9
2 parents e4a9f4e + 33dc31e
commit 6b070a9
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diff --git a/README.md b/README.md
@@ -1,5 +1,8 @@
 # realsense_adaptor
 
-synchronize the image data published from realsense node
+A set of packages for realsense adaptor
 
-realsense_adaptor_msgs is required for this package
+|package name|description|
+|:----------:|-----------|
+|realsense_adaptor| synchronize the image data published from realsense node |
+|realsense_adaptor_msgs| message interfaces for realsense adaptor|
diff --git a/CMakeLists.txt → realsense_adaptor/CMakeLists.txt b/CMakeLists.txt → realsense_adaptor/CMakeLists.txt
diff --git a/realsense_adaptor/README.md b/realsense_adaptor/README.md
@@ -0,0 +1,5 @@
+# realsense_adaptor
+
+synchronize the image data published from realsense node.
+
+realsense_adaptor_msgs is required for this package.
diff --git a/config/realsense_adaptor.yaml → ...nse_adaptor/config/realsense_adaptor.yaml b/config/realsense_adaptor.yaml → ...nse_adaptor/config/realsense_adaptor.yaml
diff --git a/...e/realsense_adaptor/realsense_adaptor.hpp → ...e/realsense_adaptor/realsense_adaptor.hpp b/...e/realsense_adaptor/realsense_adaptor.hpp → ...e/realsense_adaptor/realsense_adaptor.hpp
diff --git a/launch/realsense_adaptor.launch.py → ...daptor/launch/realsense_adaptor.launch.py b/launch/realsense_adaptor.launch.py → ...daptor/launch/realsense_adaptor.launch.py
diff --git a/package.xml → realsense_adaptor/package.xml b/package.xml → realsense_adaptor/package.xml
diff --git a/src/main.cpp → realsense_adaptor/src/main.cpp b/src/main.cpp → realsense_adaptor/src/main.cpp
diff --git a/src/realsense_adaptor.cpp → realsense_adaptor/src/realsense_adaptor.cpp b/src/realsense_adaptor.cpp → realsense_adaptor/src/realsense_adaptor.cpp
diff --git a/realsense_adaptor_msgs/CMakeLists.txt b/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()
diff --git a/realsense_adaptor_msgs/README.md b/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.
diff --git a/realsense_adaptor_msgs/msg/CameraData.msg b/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
diff --git a/realsense_adaptor_msgs/msg/CameraIntrinsic.msg b/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
diff --git a/realsense_adaptor_msgs/msg/SyncedImage.msg b/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
diff --git a/realsense_adaptor_msgs/package.xml b/realsense_adaptor_msgs/package.xml
@@ -0,0 +1,25 @@
+<?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>
+
+  <build_depend>std_msgs</build_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>