Merge pull request #1502 from doronhi/feature-IR-RGB-fix

Fix Option to enable infrared RGB frame

README.md

@@ -187,7 +187,7 @@ Setting *unite_imu_method* creates a new topic, *imu*, that replaces the default
 - **publish_tf**: boolean, publish or not TF at all. Defaults to True.
 - **tf_publish_rate**: double, positive values mean dynamic transform publication with specified rate, all other values mean static transform publication. Defaults to 0 
 - **publish_odom_tf**: If True (default) publish TF from odom_frame to pose_frame.
-- **infrargb**: When set to True (default: False), it configures the infrared camera to stream in RGB (color) mode, thus enabling the use of a RGB image in the same frame as the depth image, potentially avoiding frame transformation related errors. When this feature is required, you are additionally required to also enable `enable_infra:=true` for the infrared stream to be enabled.
+- **infra_rgb**: When set to True (default: False), it configures the infrared camera to stream in RGB (color) mode, thus enabling the use of a RGB image in the same frame as the depth image, potentially avoiding frame transformation related errors. When this feature is required, you are additionally required to also enable `enable_infra:=true` for the infrared stream to be enabled.
   - **NOTE** The configuration required for `enable_infra` is independent of `enable_depth`
   - **NOTE** To enable the Infrared stream, you should enable `enable_infra:=true` NOT `enable_infra1:=true` nor `enable_infra2:=true`
   - **NOTE** This feature is only supported by Realsense sensors with RGB streams available from the `infra` cameras, which can be checked by observing the output of `rs-enumerate-devices`

realsense2_camera/launch/includes/nodelet.launch.xml

@@ -24,7 +24,7 @@
   <arg name="enable_infra"        default="false"/>
   <arg name="enable_infra1"       default="false"/>
   <arg name="enable_infra2"       default="false"/>
-  <arg name="enable_infrargb"    default="false"/>
+  <arg name="infra_rgb"           default="false"/>
 
   <arg name="color_width"         default="640"/>
   <arg name="color_height"        default="480"/>
@@ -126,7 +126,7 @@
     <param name="enable_infra"             type="bool" value="$(arg enable_infra)"/>
     <param name="enable_infra1"            type="bool" value="$(arg enable_infra1)"/>
     <param name="enable_infra2"            type="bool" value="$(arg enable_infra2)"/>
-    <param name="infrargb"                 type="bool" value="$(arg enable_infrargb)"/>
+    <param name="infra_rgb"                type="bool" value="$(arg infra_rgb)"/>
 
     <param name="fisheye_fps"              type="int"  value="$(arg fisheye_fps)"/>
     <param name="depth_fps"                type="int"  value="$(arg depth_fps)"/>

realsense2_camera/launch/rs_camera.launch

@@ -16,12 +16,12 @@
   <arg name="depth_height"        default="480"/>
   <arg name="enable_depth"        default="true"/>
 
-  <arg name="infra_width"        default="640"/>
-  <arg name="infra_height"       default="480"/>
+  <arg name="infra_width"         default="640"/>
+  <arg name="infra_height"        default="480"/>
   <arg name="enable_infra"        default="false"/>
   <arg name="enable_infra1"       default="false"/>
   <arg name="enable_infra2"       default="false"/>
-  <arg name="enable_infrargb"    default="false"/>
+  <arg name="infra_rgb"           default="false"/>
 
   <arg name="color_width"         default="640"/>
   <arg name="color_height"        default="480"/>
@@ -86,10 +86,10 @@
 
       <arg name="infra_width"              value="$(arg infra_width)"/>
       <arg name="infra_height"             value="$(arg infra_height)"/>
-      <arg name="enable_infra"            value="$(arg enable_infra)"/>
+      <arg name="enable_infra"             value="$(arg enable_infra)"/>
       <arg name="enable_infra1"            value="$(arg enable_infra1)"/>
       <arg name="enable_infra2"            value="$(arg enable_infra2)"/>
-      <arg name="enable_infrargb"         value="$(arg enable_infrargb)"/>
+      <arg name="infra_rgb"                value="$(arg infra_rgb)"/>
 
       <arg name="fisheye_fps"              value="$(arg fisheye_fps)"/>
       <arg name="depth_fps"                value="$(arg depth_fps)"/>

realsense2_camera/src/base_realsense_node.cpp

@@ -603,9 +603,9 @@ void BaseRealSenseNode::getParameters()
     ROS_INFO("getParameters...");
 
     // Setup system to use RGB image from the infra stream if configured by user
-    bool infrargb;
-    _pnh.param("infrargb", infrargb, false);
-    if (infrargb)
+    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