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base_realsense_node.cpp
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#include "../include/base_realsense_node.h"
#include "assert.h"
#include <boost/algorithm/string.hpp>
#include <algorithm>
#include <cctype>
#include <mutex>
using namespace realsense2_camera;
using namespace ddynamic_reconfigure;
// stream_index_pair sip{stream_type, stream_index};
#define STREAM_NAME(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << _stream_name[sip.first] << ((sip.second>0) ? std::to_string(sip.second) : ""))).str()
#define FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << "camera_" << STREAM_NAME(sip) << "_frame")).str()
#define OPTICAL_FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << "camera_" << STREAM_NAME(sip) << "_optical_frame")).str()
#define ALIGNED_DEPTH_TO_FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << "camera_aligned_depth_to_" << STREAM_NAME(sip) << "_frame")).str()
SyncedImuPublisher::SyncedImuPublisher(ros::Publisher imu_publisher, std::size_t waiting_list_size):
_publisher(imu_publisher), _pause_mode(false),
_waiting_list_size(waiting_list_size)
{}
SyncedImuPublisher::~SyncedImuPublisher()
{
PublishPendingMessages();
}
void SyncedImuPublisher::Publish(sensor_msgs::Imu imu_msg)
{
std::lock_guard<std::mutex> lock_guard(_mutex);
if (_pause_mode)
{
if (_pending_messages.size() >= _waiting_list_size)
{
throw std::runtime_error("SyncedImuPublisher inner list reached maximum size of " + std::to_string(_pending_messages.size()));
}
_pending_messages.push(imu_msg);
}
else
{
_publisher.publish(imu_msg);
// ROS_INFO_STREAM("iid1:" << imu_msg.header.seq << ", time: " << std::setprecision (20) << imu_msg.header.stamp.toSec());
}
return;
}
void SyncedImuPublisher::Pause()
{
if (!_is_enabled) return;
std::lock_guard<std::mutex> lock_guard(_mutex);
_pause_mode = true;
}
void SyncedImuPublisher::Resume()
{
std::lock_guard<std::mutex> lock_guard(_mutex);
PublishPendingMessages();
_pause_mode = false;
}
void SyncedImuPublisher::PublishPendingMessages()
{
// ROS_INFO_STREAM("publish imu: " << _pending_messages.size());
while (!_pending_messages.empty())
{
const sensor_msgs::Imu &imu_msg = _pending_messages.front();
_publisher.publish(imu_msg);
// ROS_INFO_STREAM("iid2:" << imu_msg.header.seq << ", time: " << std::setprecision (20) << imu_msg.header.stamp.toSec());
_pending_messages.pop();
}
}
std::string BaseRealSenseNode::getNamespaceStr()
{
auto ns = ros::this_node::getNamespace();
ns.erase(std::remove(ns.begin(), ns.end(), '/'), ns.end());
return ns;
}
BaseRealSenseNode::BaseRealSenseNode(ros::NodeHandle& nodeHandle,
ros::NodeHandle& privateNodeHandle,
rs2::device dev,
const std::string& serial_no) :
_is_running(true), _base_frame_id(""), _node_handle(nodeHandle),
_pnh(privateNodeHandle), _dev(dev), _json_file_path(""),
_serial_no(serial_no),
_is_initialized_time_base(false),
_namespace(getNamespaceStr())
{
// Types for depth stream
_format[RS2_STREAM_DEPTH] = RS2_FORMAT_Z16;
_image_format[RS2_STREAM_DEPTH] = CV_16UC1; // CVBridge type
_encoding[RS2_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1; // ROS message type
_unit_step_size[RS2_STREAM_DEPTH] = sizeof(uint16_t); // sensor_msgs::ImagePtr row step size
_stream_name[RS2_STREAM_DEPTH] = "depth";
_depth_aligned_encoding[RS2_STREAM_DEPTH] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for confidence stream
_image_format[RS2_STREAM_CONFIDENCE] = CV_8UC1; // CVBridge type
_encoding[RS2_STREAM_CONFIDENCE] = sensor_msgs::image_encodings::MONO8; // ROS message type
_unit_step_size[RS2_STREAM_CONFIDENCE] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[RS2_STREAM_CONFIDENCE] = "confidence";
_depth_aligned_encoding[RS2_STREAM_CONFIDENCE] = sensor_msgs::image_encodings::TYPE_16UC1;
// Infrared stream
_format[RS2_STREAM_INFRARED] = RS2_FORMAT_Y8;
_image_format[RS2_STREAM_INFRARED] = CV_8UC1; // CVBridge type
_encoding[RS2_STREAM_INFRARED] = sensor_msgs::image_encodings::MONO8; // ROS message type
_unit_step_size[RS2_STREAM_INFRARED] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[RS2_STREAM_INFRARED] = "infra";
_depth_aligned_encoding[RS2_STREAM_INFRARED] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for color stream
_image_format[RS2_STREAM_COLOR] = CV_8UC3; // CVBridge type
_encoding[RS2_STREAM_COLOR] = sensor_msgs::image_encodings::RGB8; // ROS message type
_unit_step_size[RS2_STREAM_COLOR] = 3; // sensor_msgs::ImagePtr row step size
_stream_name[RS2_STREAM_COLOR] = "color";
_depth_aligned_encoding[RS2_STREAM_COLOR] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for fisheye stream
_image_format[RS2_STREAM_FISHEYE] = CV_8UC1; // CVBridge type
_encoding[RS2_STREAM_FISHEYE] = sensor_msgs::image_encodings::MONO8; // ROS message type
_unit_step_size[RS2_STREAM_FISHEYE] = sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
_stream_name[RS2_STREAM_FISHEYE] = "fisheye";
_depth_aligned_encoding[RS2_STREAM_FISHEYE] = sensor_msgs::image_encodings::TYPE_16UC1;
// Types for Motion-Module streams
_stream_name[RS2_STREAM_GYRO] = "gyro";
_stream_name[RS2_STREAM_ACCEL] = "accel";
_stream_name[RS2_STREAM_POSE] = "pose";
_monitor_options = {RS2_OPTION_ASIC_TEMPERATURE, RS2_OPTION_PROJECTOR_TEMPERATURE};
}
BaseRealSenseNode::~BaseRealSenseNode()
{
// Kill dynamic transform thread
if (_tf_t)
_tf_t->join();
_is_running = false;
_cv.notify_one();
if (_monitoring_t && _monitoring_t->joinable())
{
_monitoring_t->join();
}
std::set<std::string> module_names;
for (const std::pair<stream_index_pair, std::vector<rs2::stream_profile>>& profile : _enabled_profiles)
{
try
{
std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME);
std::pair< std::set<std::string>::iterator, bool> res = module_names.insert(module_name);
if (res.second)
{
_sensors[profile.first].stop();
_sensors[profile.first].close();
}
}
catch (const rs2::error& e)
{
ROS_ERROR_STREAM("Exception: " << e.what());
}
}
}
void BaseRealSenseNode::toggleSensors(bool enabled)
{
if(enabled)
{
std::map<std::string, std::vector<rs2::stream_profile> > profiles;
std::map<std::string, rs2::sensor> active_sensors;
for (const std::pair<stream_index_pair, std::vector<rs2::stream_profile>>& profile : _enabled_profiles)
{
std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME);
ROS_INFO_STREAM("insert " << rs2_stream_to_string(profile.second.begin()->stream_type())
<< " to " << module_name);
profiles[module_name].insert(profiles[module_name].begin(),
profile.second.begin(),
profile.second.end());
active_sensors[module_name] = _sensors[profile.first];
}
for (const std::pair<std::string, std::vector<rs2::stream_profile> >& sensor_profile : profiles)
{
std::string module_name = sensor_profile.first;
rs2::sensor sensor = active_sensors[module_name];
sensor.open(sensor_profile.second);
sensor.start(_sensors_callback[module_name]);
if (sensor.is<rs2::depth_sensor>())
{
_depth_scale_meters = sensor.as<rs2::depth_sensor>().get_depth_scale();
}
}
}
else
{
std::set<std::string> module_names;
for (const std::pair<stream_index_pair, std::vector<rs2::stream_profile>>& profile : _enabled_profiles)
{
std::string module_name = _sensors[profile.first].get_info(RS2_CAMERA_INFO_NAME);
std::pair< std::set<std::string>::iterator, bool> res = module_names.insert(module_name);
if (res.second)
{
_sensors[profile.first].stop();
_sensors[profile.first].close();
}
}
}
}
void BaseRealSenseNode::setupErrorCallback()
{
for (auto&& s : _dev.query_sensors())
{
s.set_notifications_callback([&](const rs2::notification& n)
{
std::vector<std::string> error_strings({"RT IC2 Config error",
"Left IC2 Config error"});
if (n.get_severity() >= RS2_LOG_SEVERITY_ERROR)
{
ROS_WARN_STREAM("Hardware Notification:" << n.get_description() << "," << n.get_timestamp() << "," << n.get_severity() << "," << n.get_category());
}
if (error_strings.end() != find_if(error_strings.begin(), error_strings.end(), [&n] (std::string err)
{return (n.get_description().find(err) != std::string::npos); }))
{
ROS_ERROR_STREAM("Performing Hardware Reset.");
_dev.hardware_reset();
}
});
}
}
void BaseRealSenseNode::publishTopics()
{
getParameters();
setupDevice();
setupFilters();
registerDynamicReconfigCb(_node_handle);
setupErrorCallback();
enable_devices();
setupPublishers();
setupStreams();
SetBaseStream();
registerAutoExposureROIOptions(_node_handle);
publishStaticTransforms();
publishIntrinsics();
startMonitoring();
ROS_INFO_STREAM("RealSense Node Is Up!");
}
void BaseRealSenseNode::runFirstFrameInitialization(rs2_stream stream_type)
{
if (_is_first_frame[stream_type])
{
ROS_DEBUG_STREAM("runFirstFrameInitialization: " << _video_functions_stack.size() << ", " << rs2_stream_to_string(stream_type));
_is_first_frame[stream_type] = false;
if (!_video_functions_stack[stream_type].empty())
{
std::thread t = std::thread([=]()
{
while (!_video_functions_stack[stream_type].empty())
{
_video_functions_stack[stream_type].back()();
_video_functions_stack[stream_type].pop_back();
}
});
t.detach();
}
}
}
bool is_checkbox(rs2::options sensor, rs2_option option)
{
rs2::option_range op_range = sensor.get_option_range(option);
return op_range.max == 1.0f &&
op_range.min == 0.0f &&
op_range.step == 1.0f;
}
bool is_enum_option(rs2::options sensor, rs2_option option)
{
static const int MAX_ENUM_OPTION_VALUES(100);
static const float EPSILON(0.05);
rs2::option_range op_range = sensor.get_option_range(option);
if (abs((op_range.step - 1)) > EPSILON || (op_range.max > MAX_ENUM_OPTION_VALUES)) return false;
for (auto i = op_range.min; i <= op_range.max; i += op_range.step)
{
if (sensor.get_option_value_description(option, i) == nullptr)
continue;
return true;
}
return false;
}
bool is_int_option(rs2::options sensor, rs2_option option)
{
rs2::option_range op_range = sensor.get_option_range(option);
return (op_range.step == 1.0);
}
std::map<std::string, int> get_enum_method(rs2::options sensor, rs2_option option)
{
std::map<std::string, int> dict; // An enum to set size
if (is_enum_option(sensor, option))
{
rs2::option_range op_range = sensor.get_option_range(option);
const auto op_range_min = int(op_range.min);
const auto op_range_max = int(op_range.max);
const auto op_range_step = int(op_range.step);
for (auto val = op_range_min; val <= op_range_max; val += op_range_step)
{
if (sensor.get_option_value_description(option, val) == nullptr)
continue;
dict[sensor.get_option_value_description(option, val)] = val;
}
}
return dict;
}
namespace realsense2_camera
{
template <typename K, typename V>
std::ostream& operator<<(std::ostream& os, const std::map<K, V>& m)
{
os << '{';
for (const auto& kv : m)
{
os << " {" << kv.first << ": " << kv.second << '}';
}
os << " }";
return os;
}
}
/**
* Same as ros::names::isValidCharInName, but re-implemented here because it's not exposed.
*/
bool isValidCharInName(char c)
{
return std::isalnum(c) || c == '/' || c == '_';
}
/**
* ROS Graph Resource names don't allow spaces and hyphens (see http://wiki.ros.org/Names),
* so we replace them here with underscores.
*/
std::string create_graph_resource_name(const std::string &original_name)
{
std::string fixed_name = original_name;
std::transform(fixed_name.begin(), fixed_name.end(), fixed_name.begin(),
[](unsigned char c) { return std::tolower(c); });
std::replace_if(fixed_name.begin(), fixed_name.end(), [](const char c) { return !isValidCharInName(c); },
'_');
return fixed_name;
}
void BaseRealSenseNode::set_auto_exposure_roi(const std::string option_name, rs2::sensor sensor, int new_value)
{
rs2::region_of_interest& auto_exposure_roi(_auto_exposure_roi[sensor.get_info(RS2_CAMERA_INFO_NAME)]);
if (option_name == "left")
auto_exposure_roi.min_x = new_value;
else if (option_name == "right")
auto_exposure_roi.max_x = new_value;
else if (option_name == "top")
auto_exposure_roi.min_y = new_value;
else if (option_name == "bottom")
auto_exposure_roi.max_y = new_value;
else
{
ROS_WARN_STREAM("Invalid option_name: " << option_name << " while setting auto exposure ROI.");
return;
}
set_sensor_auto_exposure_roi(sensor);
}
void BaseRealSenseNode::set_sensor_auto_exposure_roi(rs2::sensor sensor)
{
const rs2::region_of_interest& auto_exposure_roi(_auto_exposure_roi[sensor.get_info(RS2_CAMERA_INFO_NAME)]);
try
{
sensor.as<rs2::roi_sensor>().set_region_of_interest(auto_exposure_roi);
}
catch(const std::runtime_error& e)
{
ROS_ERROR_STREAM(e.what());
}
}
void BaseRealSenseNode::readAndSetDynamicParam(ros::NodeHandle& nh1, std::shared_ptr<ddynamic_reconfigure::DDynamicReconfigure> ddynrec,
const std::string option_name, const int min_val, const int max_val, rs2::sensor sensor,
int* option_value)
{
nh1.param(option_name, *option_value, *option_value); //param (const std::string ¶m_name, T ¶m_val, const T &default_val) const
if (*option_value < min_val) *option_value = min_val;
if (*option_value > max_val) *option_value = max_val;
ddynrec->registerVariable<int>(
option_name, *option_value, [this, sensor, option_name](int new_value){set_auto_exposure_roi(option_name, sensor, new_value);},
"auto-exposure " + option_name + " coordinate", min_val, max_val);
}
void BaseRealSenseNode::registerAutoExposureROIOptions(ros::NodeHandle& nh)
{
for (const std::pair<stream_index_pair, std::vector<rs2::stream_profile>>& profile : _enabled_profiles)
{
rs2::sensor sensor = _sensors[profile.first];
std::string module_base_name(sensor.get_info(RS2_CAMERA_INFO_NAME));
if (sensor.is<rs2::roi_sensor>() && _auto_exposure_roi.find(module_base_name) == _auto_exposure_roi.end())
{
int max_x(_width[profile.first]-1);
int max_y(_height[profile.first]-1);
std::string module_name = create_graph_resource_name(module_base_name) +"/auto_exposure_roi";
ros::NodeHandle nh1(nh, module_name);
std::shared_ptr<ddynamic_reconfigure::DDynamicReconfigure> ddynrec = std::make_shared<ddynamic_reconfigure::DDynamicReconfigure>(nh1);
_auto_exposure_roi[module_base_name] = {0, 0, max_x, max_y};
rs2::region_of_interest& auto_exposure_roi(_auto_exposure_roi[module_base_name]);
readAndSetDynamicParam(nh1, ddynrec, "left", 0, max_x, sensor, &(auto_exposure_roi.min_x));
readAndSetDynamicParam(nh1, ddynrec, "right", 0, max_x, sensor, &(auto_exposure_roi.max_x));
readAndSetDynamicParam(nh1, ddynrec, "top", 0, max_y, sensor, &(auto_exposure_roi.min_y));
readAndSetDynamicParam(nh1, ddynrec, "bottom", 0, max_y, sensor, &(auto_exposure_roi.max_y));
ddynrec->publishServicesTopics();
_ddynrec.push_back(ddynrec);
// Initiate the call to set_sensor_auto_exposure_roi, after the first frame arrive.
rs2_stream stream_type = profile.first.first;
_video_functions_stack[stream_type].push_back([this, sensor](){set_sensor_auto_exposure_roi(sensor);});
_is_first_frame[stream_type] = true;
}
}
}
void BaseRealSenseNode::registerDynamicOption(ros::NodeHandle& nh, rs2::options sensor, std::string& module_name)
{
ros::NodeHandle nh1(nh, module_name);
std::shared_ptr<ddynamic_reconfigure::DDynamicReconfigure> ddynrec = std::make_shared<ddynamic_reconfigure::DDynamicReconfigure>(nh1);
for (auto i = 0; i < RS2_OPTION_COUNT; i++)
{
rs2_option option = static_cast<rs2_option>(i);
const std::string option_name(create_graph_resource_name(rs2_option_to_string(option)));
try
{
if (!sensor.supports(option) || sensor.is_option_read_only(option))
{
continue;
}
if (is_checkbox(sensor, option))
{
auto option_value = bool(sensor.get_option(option));
if (nh1.param(option_name, option_value, option_value))
{
sensor.set_option(option, option_value);
}
ddynrec->registerVariable<bool>(
option_name, option_value,
[option, sensor](bool new_value) { sensor.set_option(option, new_value); },
sensor.get_option_description(option));
continue;
}
const auto enum_dict = get_enum_method(sensor, option);
if (enum_dict.empty())
{
rs2::option_range op_range = sensor.get_option_range(option);
const auto sensor_option_value = sensor.get_option(option);
auto option_value = sensor_option_value;
if (nh1.param(option_name, option_value, option_value))
{
if (option_value < op_range.min || op_range.max < option_value)
{
ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option_value
<< " outside the range [" << op_range.min << ", " << op_range.max
<< "]. Using current sensor value " << sensor_option_value << " instead.");
option_value = sensor_option_value;
}
else
{
sensor.set_option(option, option_value);
}
}
if (option_value < op_range.min || op_range.max < option_value)
{
ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option_value
<< " that is not in range [" << op_range.min << ", " << op_range.max << "]"
<< ". Removing this parameter from dynamic reconfigure options.");
continue;
}
if (is_int_option(sensor, option))
{
ddynrec->registerVariable<int>(
option_name, int(option_value),
[option, sensor](int new_value) { sensor.set_option(option, new_value); },
sensor.get_option_description(option), int(op_range.min), int(op_range.max));
}
else
{
if (i == RS2_OPTION_DEPTH_UNITS)
{
if (ROS_DEPTH_SCALE >= op_range.min && ROS_DEPTH_SCALE <= op_range.max)
{
sensor.set_option(option, ROS_DEPTH_SCALE);
op_range.min = ROS_DEPTH_SCALE;
op_range.max = ROS_DEPTH_SCALE;
_depth_scale_meters = ROS_DEPTH_SCALE;
}
}
else
{
ddynrec->registerVariable<double>(
option_name, option_value,
[option, sensor](double new_value) { sensor.set_option(option, new_value); },
sensor.get_option_description(option), double(op_range.min), double(op_range.max));
}
}
}
else
{
const auto sensor_option_value = sensor.get_option(option);
auto option_value = int(sensor_option_value);
if (nh1.param(option_name, option_value, option_value))
{
if (std::find_if(enum_dict.cbegin(), enum_dict.cend(),
[&option_value](const std::pair<std::string, int>& kv) {
return kv.second == option_value;
}) == enum_dict.cend())
{
ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option_value
<< " that is not in the enum " << enum_dict
<< ". Using current sensor value " << sensor_option_value << " instead.");
option_value = sensor_option_value;
}
else
{
sensor.set_option(option, option_value);
}
}
if (std::find_if(enum_dict.cbegin(), enum_dict.cend(),
[&option_value](const std::pair<std::string, int>& kv) {
return kv.second == option_value;
}) == enum_dict.cend())
{
ROS_WARN_STREAM("Param '" << nh1.resolveName(option_name) << "' has value " << option_value
<< " that is not in the enum " << enum_dict
<< ". Removing this parameter from dynamic reconfigure options.");
continue;
}
ddynrec->registerEnumVariable<int>(
option_name, option_value,
[option, sensor](int new_value) { sensor.set_option(option, new_value); },
sensor.get_option_description(option), enum_dict);
}
}
catch(const rs2::backend_error& e)
{
ROS_WARN_STREAM("Failed to set option: " << option_name << ": " << e.what());
}
catch(const std::exception& e)
{
std::cerr << e.what() << '\n';
}
}
ddynrec->publishServicesTopics();
_ddynrec.push_back(ddynrec);
}
void BaseRealSenseNode::registerDynamicReconfigCb(ros::NodeHandle& nh)
{
ROS_INFO("Setting Dynamic reconfig parameters.");
for(rs2::sensor sensor : _dev_sensors)
{
std::string module_name = create_graph_resource_name(sensor.get_info(RS2_CAMERA_INFO_NAME));
ROS_DEBUG_STREAM("module_name:" << module_name);
registerDynamicOption(nh, sensor, module_name);
}
for (NamedFilter nfilter : _filters)
{
std::string module_name = nfilter._name;
auto sensor = *(nfilter._filter);
ROS_DEBUG_STREAM("module_name:" << module_name);
registerDynamicOption(nh, sensor, module_name);
}
ROS_INFO("Done Setting Dynamic reconfig parameters.");
}
rs2_stream BaseRealSenseNode::rs2_string_to_stream(std::string str)
{
if (str == "RS2_STREAM_ANY")
return RS2_STREAM_ANY;
if (str == "RS2_STREAM_COLOR")
return RS2_STREAM_COLOR;
if (str == "RS2_STREAM_INFRARED")
return RS2_STREAM_INFRARED;
if (str == "RS2_STREAM_FISHEYE")
return RS2_STREAM_FISHEYE;
throw std::runtime_error("Unknown stream string " + str);
}
void BaseRealSenseNode::getParameters()
{
ROS_INFO("getParameters...");
// Setup system to use RGB image from the infra stream if configured by user
bool infra_rgb;
_pnh.param("infra_rgb", infra_rgb, false);
if (infra_rgb)
{
_format[RS2_STREAM_INFRARED] = RS2_FORMAT_RGB8;
_image_format[RS2_STREAM_INFRARED] = CV_8UC3; // CVBridge type
_encoding[RS2_STREAM_INFRARED] = sensor_msgs::image_encodings::RGB8; // ROS message type
_unit_step_size[RS2_STREAM_INFRARED] = 3 * sizeof(uint8_t); // sensor_msgs::ImagePtr row step size
ROS_INFO_STREAM("Infrared RGB stream enabled");
}
_pnh.param("align_depth", _align_depth, ALIGN_DEPTH);
_pnh.param("enable_pointcloud", _pointcloud, POINTCLOUD);
std::string pc_texture_stream("");
int pc_texture_idx;
_pnh.param("pointcloud_texture_stream", pc_texture_stream, std::string("RS2_STREAM_COLOR"));
_pnh.param("pointcloud_texture_index", pc_texture_idx, 0);
_pointcloud_texture = stream_index_pair{rs2_string_to_stream(pc_texture_stream), pc_texture_idx};
_pnh.param("filters", _filters_str, DEFAULT_FILTERS);
_pointcloud |= (_filters_str.find("pointcloud") != std::string::npos);
_pnh.param("publish_tf", _publish_tf, PUBLISH_TF);
_pnh.param("tf_publish_rate", _tf_publish_rate, TF_PUBLISH_RATE);
_pnh.param("enable_sync", _sync_frames, SYNC_FRAMES);
if (_pointcloud || _align_depth || _filters_str.size() > 0)
_sync_frames = true;
_pnh.param("json_file_path", _json_file_path, std::string(""));
for (auto& stream : IMAGE_STREAMS)
{
std::string param_name(_stream_name[stream.first] + "_width");
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _width[stream], IMAGE_WIDTH);
param_name = _stream_name[stream.first] + "_height";
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _height[stream], IMAGE_HEIGHT);
param_name = _stream_name[stream.first] + "_fps";
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _fps[stream], IMAGE_FPS);
param_name = "enable_" + STREAM_NAME(stream);
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _enable[stream], true);
}
for (auto& stream : HID_STREAMS)
{
std::string param_name(_stream_name[stream.first] + "_fps");
ROS_DEBUG_STREAM("reading parameter:" << param_name);
_pnh.param(param_name, _fps[stream], IMU_FPS);
param_name = "enable_" + STREAM_NAME(stream);
_pnh.param(param_name, _enable[stream], ENABLE_IMU);
ROS_DEBUG_STREAM("_enable[" << _stream_name[stream.first] << "]:" << _enable[stream]);
}
_pnh.param("base_frame_id", _base_frame_id, DEFAULT_BASE_FRAME_ID);
_pnh.param("odom_frame_id", _odom_frame_id, DEFAULT_ODOM_FRAME_ID);
std::vector<stream_index_pair> streams(IMAGE_STREAMS);
streams.insert(streams.end(), HID_STREAMS.begin(), HID_STREAMS.end());
for (auto& stream : streams)
{
std::string param_name(static_cast<std::ostringstream&&>(std::ostringstream() << STREAM_NAME(stream) << "_frame_id").str());
_pnh.param(param_name, _frame_id[stream], FRAME_ID(stream));
ROS_DEBUG_STREAM("frame_id: reading parameter:" << param_name << " : " << _frame_id[stream]);
param_name = static_cast<std::ostringstream&&>(std::ostringstream() << STREAM_NAME(stream) << "_optical_frame_id").str();
_pnh.param(param_name, _optical_frame_id[stream], OPTICAL_FRAME_ID(stream));
ROS_DEBUG_STREAM("optical: reading parameter:" << param_name << " : " << _optical_frame_id[stream]);
}
std::string unite_imu_method_str("");
_pnh.param("unite_imu_method", unite_imu_method_str, DEFAULT_UNITE_IMU_METHOD);
if (unite_imu_method_str == "linear_interpolation")
_imu_sync_method = imu_sync_method::LINEAR_INTERPOLATION;
else if (unite_imu_method_str == "copy")
_imu_sync_method = imu_sync_method::COPY;
else
_imu_sync_method = imu_sync_method::NONE;
if (_imu_sync_method > imu_sync_method::NONE)
{
_pnh.param("imu_optical_frame_id", _optical_frame_id[GYRO], DEFAULT_IMU_OPTICAL_FRAME_ID);
}
for (auto& stream : IMAGE_STREAMS)
{
if (stream == DEPTH || stream == CONFIDENCE) continue;
if (stream.second > 1) continue;
std::string param_name(static_cast<std::ostringstream&&>(std::ostringstream() << "aligned_depth_to_" << STREAM_NAME(stream) << "_frame_id").str());
_pnh.param(param_name, _depth_aligned_frame_id[stream], ALIGNED_DEPTH_TO_FRAME_ID(stream));
}
_pnh.param("allow_no_texture_points", _allow_no_texture_points, ALLOW_NO_TEXTURE_POINTS);
_pnh.param("ordered_pc", _ordered_pc, ORDERED_POINTCLOUD);
_pnh.param("clip_distance", _clipping_distance, static_cast<float>(-1.0));
_pnh.param("linear_accel_cov", _linear_accel_cov, static_cast<double>(0.01));
_pnh.param("angular_velocity_cov", _angular_velocity_cov, static_cast<double>(0.01));
_pnh.param("hold_back_imu_for_frames", _hold_back_imu_for_frames, HOLD_BACK_IMU_FOR_FRAMES);
_pnh.param("publish_odom_tf", _publish_odom_tf, PUBLISH_ODOM_TF);
}
void BaseRealSenseNode::setupDevice()
{
ROS_INFO("setupDevice...");
try{
if (!_json_file_path.empty())
{
if (_dev.is<rs2::serializable_device>())
{
std::stringstream ss;
std::ifstream in(_json_file_path);
if (in.is_open())
{
ss << in.rdbuf();
std::string json_file_content = ss.str();
auto adv = _dev.as<rs2::serializable_device>();
adv.load_json(json_file_content);
ROS_INFO_STREAM("JSON file is loaded! (" << _json_file_path << ")");
}
else
ROS_WARN_STREAM("JSON file provided doesn't exist! (" << _json_file_path << ")");
}
else
ROS_WARN("Device does not support advanced settings!");
}
else
ROS_INFO("JSON file is not provided");
ROS_INFO_STREAM("ROS Node Namespace: " << _namespace);
auto camera_name = _dev.get_info(RS2_CAMERA_INFO_NAME);
ROS_INFO_STREAM("Device Name: " << camera_name);
ROS_INFO_STREAM("Device Serial No: " << _serial_no);
auto camera_id = _dev.get_info(RS2_CAMERA_INFO_PHYSICAL_PORT);
ROS_INFO_STREAM("Device physical port: " << camera_id);
auto fw_ver = _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION);
ROS_INFO_STREAM("Device FW version: " << fw_ver);
auto pid = _dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID);
ROS_INFO_STREAM("Device Product ID: 0x" << pid);
ROS_INFO_STREAM("Enable PointCloud: " << ((_pointcloud)?"On":"Off"));
ROS_INFO_STREAM("Align Depth: " << ((_align_depth)?"On":"Off"));
ROS_INFO_STREAM("Sync Mode: " << ((_sync_frames)?"On":"Off"));
_dev_sensors = _dev.query_sensors();
std::function<void(rs2::frame)> frame_callback_function, imu_callback_function;
if (_sync_frames)
{
frame_callback_function = _syncer;
auto frame_callback_inner = [this](rs2::frame frame){
frame_callback(frame);
};
_syncer.start(frame_callback_inner);
}
else
{
frame_callback_function = [this](rs2::frame frame){frame_callback(frame);};
}
if (_imu_sync_method == imu_sync_method::NONE)
{
imu_callback_function = [this](rs2::frame frame){imu_callback(frame);};
}
else
{
imu_callback_function = [this](rs2::frame frame){imu_callback_sync(frame, _imu_sync_method);};
}
std::function<void(rs2::frame)> multiple_message_callback_function = [this](rs2::frame frame){multiple_message_callback(frame, _imu_sync_method);};
ROS_INFO_STREAM("Device Sensors: ");
for(auto&& sensor : _dev_sensors)
{
for (auto& profile : sensor.get_stream_profiles())
{
auto video_profile = profile.as<rs2::video_stream_profile>();
stream_index_pair sip(video_profile.stream_type(), video_profile.stream_index());
if (_sensors.find( sip ) != _sensors.end())
continue;
_sensors[sip] = sensor;
}
std::string module_name = sensor.get_info(RS2_CAMERA_INFO_NAME);
if (sensor.is<rs2::depth_sensor>())
{
_sensors_callback[module_name] = frame_callback_function;
}
else if (sensor.is<rs2::color_sensor>())
{
_sensors_callback[module_name] = frame_callback_function;
}
else if (sensor.is<rs2::fisheye_sensor>())
{
_sensors_callback[module_name] = frame_callback_function;
}
else if (sensor.is<rs2::motion_sensor>())
{
_sensors_callback[module_name] = imu_callback_function;
}
else if (sensor.is<rs2::pose_sensor>())
{
_sensors_callback[module_name] = multiple_message_callback_function;
}
else
{
ROS_ERROR_STREAM("Module Name \"" << module_name << "\" isn't supported by LibRealSense! Terminating RealSense Node...");
ros::shutdown();
exit(1);
}
ROS_INFO_STREAM(std::string(sensor.get_info(RS2_CAMERA_INFO_NAME)) << " was found.");
}
// Update "enable" map
for (std::pair<stream_index_pair, bool> const& enable : _enable )
{
const stream_index_pair& stream_index(enable.first);
if (enable.second && _sensors.find(stream_index) == _sensors.end())
{
ROS_INFO_STREAM("(" << rs2_stream_to_string(stream_index.first) << ", " << stream_index.second << ") sensor isn't supported by current device! -- Skipping...");
_enable[enable.first] = false;
}
}
}
catch(const std::exception& ex)
{
ROS_ERROR_STREAM("An exception has been thrown: " << ex.what());
throw;
}
catch(...)
{
ROS_ERROR_STREAM("Unknown exception has occured!");
throw;
}
}
void BaseRealSenseNode::setupPublishers()
{
ROS_INFO("setupPublishers...");
image_transport::ImageTransport image_transport(_node_handle);
for (auto& stream : IMAGE_STREAMS)
{
if (_enable[stream])
{
std::stringstream image_raw, camera_info;
bool rectified_image = false;
if (stream == DEPTH || stream == CONFIDENCE || stream == INFRA1 || stream == INFRA2)
rectified_image = true;
std::string stream_name(STREAM_NAME(stream));
image_raw << stream_name << "/image_" << ((rectified_image)?"rect_":"") << "raw";
camera_info << stream_name << "/camera_info";
std::shared_ptr<FrequencyDiagnostics> frequency_diagnostics(new FrequencyDiagnostics(_fps[stream], stream_name, _serial_no));
_image_publishers[stream] = {image_transport.advertise(image_raw.str(), 1), frequency_diagnostics};
_info_publisher[stream] = _node_handle.advertise<sensor_msgs::CameraInfo>(camera_info.str(), 1);
if (_align_depth && (stream != DEPTH) && (stream != CONFIDENCE) && stream.second < 2)
{
std::stringstream aligned_image_raw, aligned_camera_info;
aligned_image_raw << "aligned_depth_to_" << stream_name << "/image_raw";
aligned_camera_info << "aligned_depth_to_" << stream_name << "/camera_info";
std::string aligned_stream_name = "aligned_depth_to_" + stream_name;
std::shared_ptr<FrequencyDiagnostics> frequency_diagnostics(new FrequencyDiagnostics(_fps[stream], aligned_stream_name, _serial_no));
_depth_aligned_image_publishers[stream] = {image_transport.advertise(aligned_image_raw.str(), 1), frequency_diagnostics};
_depth_aligned_info_publisher[stream] = _node_handle.advertise<sensor_msgs::CameraInfo>(aligned_camera_info.str(), 1);
}
if (stream == DEPTH && _pointcloud)
{
_pointcloud_publisher = _node_handle.advertise<sensor_msgs::PointCloud2>("depth/color/points", 1);
}
}
}
_synced_imu_publisher = std::make_shared<SyncedImuPublisher>();
if (_imu_sync_method > imu_sync_method::NONE && _enable[GYRO] && _enable[ACCEL])
{
ROS_INFO("Start publisher IMU");
_synced_imu_publisher = std::make_shared<SyncedImuPublisher>(_node_handle.advertise<sensor_msgs::Imu>("imu", 5));
_synced_imu_publisher->Enable(_hold_back_imu_for_frames);
}
else
{
if (_enable[GYRO])
{
_imu_publishers[GYRO] = _node_handle.advertise<sensor_msgs::Imu>("gyro/sample", 100);
}
if (_enable[ACCEL])
{
_imu_publishers[ACCEL] = _node_handle.advertise<sensor_msgs::Imu>("accel/sample", 100);
}
}
if (_enable[POSE])
{
_imu_publishers[POSE] = _node_handle.advertise<nav_msgs::Odometry>("odom/sample", 100);
}
if (_enable[FISHEYE] &&
_enable[DEPTH])
{
_depth_to_other_extrinsics_publishers[FISHEYE] = _node_handle.advertise<Extrinsics>("extrinsics/depth_to_fisheye", 1, true);
}
if (_enable[COLOR] &&
_enable[DEPTH])
{
_depth_to_other_extrinsics_publishers[COLOR] = _node_handle.advertise<Extrinsics>("extrinsics/depth_to_color", 1, true);
}
if (_enable[INFRA1] &&
_enable[DEPTH])
{
_depth_to_other_extrinsics_publishers[INFRA1] = _node_handle.advertise<Extrinsics>("extrinsics/depth_to_infra1", 1, true);
}
if (_enable[INFRA2] &&
_enable[DEPTH])
{
_depth_to_other_extrinsics_publishers[INFRA2] = _node_handle.advertise<Extrinsics>("extrinsics/depth_to_infra2", 1, true);
}
}
void BaseRealSenseNode::publishAlignedDepthToOthers(rs2::frameset frames, const ros::Time& t)
{
for (auto it = frames.begin(); it != frames.end(); ++it)
{
auto frame = (*it);
auto stream_type = frame.get_profile().stream_type();
if (RS2_STREAM_DEPTH == stream_type || RS2_STREAM_CONFIDENCE == stream_type)
continue;
auto stream_index = frame.get_profile().stream_index();
if (stream_index > 1)
{
continue;
}
stream_index_pair sip{stream_type, stream_index};
auto& info_publisher = _depth_aligned_info_publisher.at(sip);
auto& image_publisher = _depth_aligned_image_publishers.at(sip);
if(0 != info_publisher.getNumSubscribers() ||
0 != image_publisher.first.getNumSubscribers())
{
std::shared_ptr<rs2::align> align;
try{
align = _align.at(stream_type);
}
catch(const std::out_of_range& e)
{
ROS_DEBUG_STREAM("Allocate align filter for:" << rs2_stream_to_string(sip.first) << sip.second);
align = (_align[stream_type] = std::make_shared<rs2::align>(stream_type));
}
rs2::frameset processed = frames.apply_filter(*align);
std::vector<rs2::frame> frames_to_publish;
frames_to_publish.push_back(processed.get_depth_frame()); // push_back(aligned_depth_frame)
for (std::vector<NamedFilter>::const_iterator filter_it = _filters.begin(); filter_it != _filters.end(); filter_it++)
{
if (filter_it->_name == "colorizer")
{
frames_to_publish.push_back(filter_it->_filter->process(frames_to_publish.back())); //push_back(colorized)
break;
}
}
publishFrame(frames_to_publish.back(), t, sip,
_depth_aligned_image,
_depth_aligned_info_publisher,
_depth_aligned_image_publishers, _depth_aligned_seq,
_depth_aligned_camera_info, _optical_frame_id,
_depth_aligned_encoding);
}
}