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Michael-Equi · Mar 14, 2019 · ef5d078 · ef5d078
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diff --git a/realsense2_description/.gitignore b/realsense2_description/.gitignore
@@ -0,0 +1 @@
+CMakeLists.txt.user
diff --git a/realsense2_description/CMakeLists.txt b/realsense2_description/CMakeLists.txt
@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(realsense2_description)
+
+option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
+option(SET_USER_BREAK_AT_STARTUP "Set user wait point in startup (for debug)" OFF)
+
+find_package(catkin REQUIRED COMPONENTS
+    message_generation
+    roscpp
+    sensor_msgs
+    std_msgs
+    nodelet
+    cv_bridge
+    image_transport
+    tf
+    dynamic_reconfigure
+    diagnostic_updater
+    )
+
+set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")
+
+add_message_files(
+    FILES
+#    IMUInfo.msg
+#    Extrinsics.msg
+    )
+
+generate_messages(
+    DEPENDENCIES
+    sensor_msgs
+    std_msgs
+    )
+
+
+# RealSense ROS Node
+catkin_package(
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS message_runtime roscpp sensor_msgs std_msgs
+    nodelet
+    cv_bridge
+    image_transport
+    dynamic_reconfigure
+    )
+
+# Install header files
+install(DIRECTORY include/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    )
+
+# Install launch files
+install(DIRECTORY launch/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+    )
+
+# Install rviz files
+install(DIRECTORY rviz/
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
+    )
diff --git a/realsense2_description/launch/view_d415_model.launch b/realsense2_description/launch/view_d415_model.launch
@@ -0,0 +1,11 @@
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_d415_camera.urdf.xacro'" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+    <arg name="gui" default="True" />
+    <param name="use_gui" value="$(arg gui)"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera)/rviz/urdf.rviz" required="true" />
+
+    <include file="$(find gazebo_ros)/launch/empty_world.launch" />
+    <node name="d415" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model sensor_d415 -z 0.05" />
+</launch>
diff --git a/realsense2_description/launch/view_d435_model.launch b/realsense2_description/launch/view_d435_model.launch
@@ -0,0 +1,12 @@
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_d435_camera.urdf.xacro'" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+    <arg name="gui" default="True" />
+    <param name="use_gui" value="$(arg gui)"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera)/rviz/urdf.rviz" required="true" />
+
+    <include file="$(find gazebo_ros)/launch/empty_world.launch" />
+    <node name="d435" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model sensor_d435 -z 0.05" />
+
+</launch>
diff --git a/realsense2_description/launch/view_r410_model.launch b/realsense2_description/launch/view_r410_model.launch
@@ -0,0 +1,8 @@
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_r410_camera.urdf.xacro'" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+    <arg name="gui" default="True" />
+    <param name="use_gui" value="$(arg gui)"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera)/rviz/urdf.rviz" required="true" />
+</launch>
diff --git a/realsense2_description/launch/view_r430_model.launch b/realsense2_description/launch/view_r430_model.launch
@@ -0,0 +1,8 @@
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense2_camera)/urdf/test_r430_camera.urdf.xacro'" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+    <arg name="gui" default="True" />
+    <param name="use_gui" value="$(arg gui)"/>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find realsense2_camera)/rviz/urdf.rviz" required="true" />
+</launch>
diff --git a/realsense2_description/meshes/d415.dae b/realsense2_description/meshes/d415.dae
diff --git a/realsense2_description/meshes/d415.stl b/realsense2_description/meshes/d415.stl
diff --git a/realsense2_description/meshes/d435.dae b/realsense2_description/meshes/d435.dae
diff --git a/realsense2_description/package.xml b/realsense2_description/package.xml
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<package>
+  <name>realsense2_description</name>
+  <version>2.1.1</version>
+  <description>RealSense Camera package allowing access to Intel 3D D400 cameras</description>
+  <maintainer email="sergey.dorodnicov@intel.com">Sergey Dorodnicov</maintainer>
+  <maintainer email="doron.hirshberg@intel.com">Doron Hirshberg</maintainer>
+  <license>Apache 2.0</license>
+
+  <url type="website">http://www.ros.org/wiki/RealSense</url>
+  <url type="bugtracker">https://github.com/intel-ros/realsense/issues</url>
+
+  <author email="sergey.dorodnicov@intel.com">Sergey Dorodnicov</author>
+  <author email="doron.hirshberg@intel.com">Doron Hirshberg</author>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>genmsg</build_depend>
+  <build_depend>nodelet</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>diagnostic_updater</build_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>nodelet</run_depend>  
+  <run_depend>genmsg</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>diagnostic_updater</run_depend>
+  <export>
+    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
+  </export>
+</package>
diff --git a/realsense2_description/rviz/pointcloud.rviz b/realsense2_description/rviz/pointcloud.rviz
@@ -0,0 +1,140 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 747
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.00999999978
+      Style: Flat Squares
+      Topic: /camera/depth/color/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: camera_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 6.36999989
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.085398294
+      Target Frame: <Fixed Frame>
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 3.01539803
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1028
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000037afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000023e000001640000000000000000000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000037a000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000062b0000003efc0100000002fb0000000800540069006d006501000000000000062b0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003a60000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1579
+  X: 156
+  Y: 48