diff --git a/openni2_camera/CMakeLists.txt b/openni2_camera/CMakeLists.txt index 6787f53..6e344c2 100644 --- a/openni2_camera/CMakeLists.txt +++ b/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( diff --git a/openni2_camera/README.md b/openni2_camera/README.md index 20234cb..d023cee 100644 --- a/openni2_camera/README.md +++ b/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. diff --git a/openni2_camera/launch/camera_only.launch.py b/openni2_camera/launch/camera_only.launch.py new file mode 100644 index 0000000..7a82146 --- /dev/null +++ b/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]) diff --git a/openni2_camera/launch/camera_with_cloud.launch.py b/openni2_camera/launch/camera_with_cloud.launch.py new file mode 100644 index 0000000..f015ac2 --- /dev/null +++ b/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])