Connect to camera using unique id

[reaganlo]

The user will be able to specify a unique id in the launch file using the parameter "serial_no".

[reaganlo]

This issue has been fixed in Release 1.0.2

Details

Note: The term "camera" here refers to Intel RealSense R200 cameras. It has been tested only for Linux Kernel version 4.4.0-040400-generic, librealsense version: 0.9 and R200 Firmware version: 1.0.72.06

• The nodelet will exit with error if no cameras are detected by the system.
• The nodelet will print the serial_no of all the cameras detected by the system.
• The nodelet will connect to a camera based on the serial_no parameter in the launch file.
• If only one camera is detected by the system, the nodelet will connect to it even if the serial_no is not specified in the launch file.
• The nodelet will exit with error if multiple cameras are detected by the system but no serial_no is specified in the launch file.
• The nodelet will exit with error if an incorrect serial_no is specified in the launch file.

Note: Launching multiple cameras simultaneously using serial_no has not be fully tested and must not be considered as part of this issue. It will be tested and confirmed in our future release. Although you may try by creating launch files similar to realsense_r200_rgbd.launch and giving a unique value for the "camera" namespace and "serial_no" parameter for each camera. E.g camera = "camera1" and serial_no = "2131007626".

[mirzashah]

@reaganlo just tested out the latest release, configuring by serial number works. Even though you said it's untested, it appears two cameras work simultaneously using the method you suggested . Great job! :)

I did notice though that when running two simultaneously, both cameras retain the parent link of "camera_link". e.g. If you set camera:=camera1, the rgb and depth links will be camera1_rgb_frame and camera1_depth_frame, but the parent link will be camera_link instead of camera1_link. I filed an issue for this #21