add some docs, launch files

openni2_camera/CMakeLists.txt

@@ -100,6 +100,11 @@ install(
   DESTINATION include
 )
 
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 ament_export_include_directories(include)
 ament_export_libraries(openni2_wrapper)
 ament_export_dependencies(

openni2_camera/README.md

@@ -1,6 +1,38 @@
 openni2_camera
 ==============
 
-ROS wrapper for openni 2.0
+ROS2 wrapper for openni 2.0
 
-Note: openni2_camera supports xtion devices, but not kinects. For using a kinect with ROS, try the freenect stack: http://www.ros.org/wiki/freenect_stack
+Note: openni2_camera supports xtion devices, but not Kinects.
+
+## Running ROS2 Driver
+
+An example launch exists that loads just the camera component:
+
+```
+ros2 launch openni2_camera camera_only.launch.py
+```
+
+If you want to get a PointCloud2, use:
+
+```
+ros2 launch openni2_camera camera_with_cloud.launch.py
+```
+
+## Migration from ROS1
+
+ * The GetService message has moved to a new openni2_camera_msgs package.
+ * The rgb/image topic has been renamed to rgb/image_raw for consistency.
+ * The nodelet has been refactored into an rclcpp component called
+   "openni2_wrapper::OpenNI2Driver". See the launch folder for an example
+   of how to start this.
+ * Since most components in image_proc/depth_image_proc lack lazy pub/sub,
+   the advanced processing graphs in rgbd_launch and openni2_launch are not
+   currently feasible. It is recommended to create a launch file with the
+   specific pipeline you want. See the launch folder for an example.
+
+## Known Issues
+
+ * There are currently no subscriber connect/disconnect callbacks in ROS2.
+   This package implements a lazy publisher by running a 1Hz update loop
+   and seeing if there are new subscribers.

openni2_camera/launch/camera_only.launch.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2020, Michael Ferguson
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+import launch
+import launch_ros.actions
+import launch_ros.descriptions
+
+
+def generate_launch_description():
+
+    namespace = '/camera'
+
+    container = launch_ros.actions.ComposableNodeContainer(
+            name='container',
+            namespace=namespace,
+            package='rclcpp_components',
+            executable='component_container',
+            composable_node_descriptions=[
+                # Just the driver
+                launch_ros.descriptions.ComposableNode(
+                    package='openni2_camera',
+                    plugin='openni2_wrapper::OpenNI2Driver',
+                    name='driver',
+                    parameters=[{'depth_registration': True},
+                                {'use_device_time': False}],
+                    namespace=namespace,
+                ),
+            ],
+            output='screen',
+    )
+
+    return launch.LaunchDescription([container])

openni2_camera/launch/camera_with_cloud.launch.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+
+# Copyright (c) 2020, Michael Ferguson
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the copyright holder nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+import launch
+import launch_ros.actions
+import launch_ros.descriptions
+
+
+def generate_launch_description():
+
+    namespace = '/camera'
+
+    container = launch_ros.actions.ComposableNodeContainer(
+            name='container',
+            namespace=namespace,
+            package='rclcpp_components',
+            executable='component_container',
+            composable_node_descriptions=[
+                # Driver
+                launch_ros.descriptions.ComposableNode(
+                    package='openni2_camera',
+                    plugin='openni2_wrapper::OpenNI2Driver',
+                    name='driver',
+                    namespace=namespace,
+                    parameters=[{'depth_registration': True},
+                                {'use_device_time': False}],
+                    remappings=[('depth/image', 'depth_registered/image_raw')],
+                ),
+                # Create XYZRGB point cloud
+                launch_ros.descriptions.ComposableNode(
+                    package='depth_image_proc',
+                    plugin='depth_image_proc::PointCloudXyzrgbNode',
+                    name='points_xyzrgb',
+                    namespace=namespace,
+                    parameters=[{'queue_size': 10}],
+                    remappings=[('rgb/image_rect_color', 'rgb/image_raw'),
+                                ('rgb/camera_info', 'rgb/camera_info'),
+                                ('depth_registered/image_rect', 'depth_registered/image_raw'),
+                                ('points', 'depth_registered/points'), ],
+                ),
+            ],
+            output='screen',
+    )
+
+    return launch.LaunchDescription([container])