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Add new L515 PID #1248

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merged 1 commit into from
Jun 18, 2020
+14 −15
Merged

Add new L515 PID #1248

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3 changes: 2 additions & 1 deletion realsense2_camera/include/constants.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,8 @@ namespace realsense2_camera
const uint16_t RS435i_RGB_PID = 0x0B3A; // AWGC_MM
const uint16_t RS405_PID = 0x0b0c; // DS5U
const uint16_t RS_T265_PID = 0x0b37; //
const uint16_t RS_L515_PID = 0x0B3D; //
const uint16_t RS_L515_PID_PRE_PRQ = 0x0B3D; //
const uint16_t RS_L515_PID = 0x0B64; //


const bool ALIGN_DEPTH = false;
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3 changes: 2 additions & 1 deletion realsense2_camera/include/realsense_node_factory.h
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Expand Up @@ -25,6 +25,7 @@ namespace realsense2_camera
{
const stream_index_pair COLOR{RS2_STREAM_COLOR, 0};
const stream_index_pair DEPTH{RS2_STREAM_DEPTH, 0};
const stream_index_pair INFRA0{RS2_STREAM_INFRARED, 0};
const stream_index_pair INFRA1{RS2_STREAM_INFRARED, 1};
const stream_index_pair INFRA2{RS2_STREAM_INFRARED, 2};
const stream_index_pair FISHEYE{RS2_STREAM_FISHEYE, 0};
Expand All @@ -35,7 +36,7 @@ namespace realsense2_camera
const stream_index_pair POSE{RS2_STREAM_POSE, 0};


const std::vector<stream_index_pair> IMAGE_STREAMS = {DEPTH, INFRA1, INFRA2,
const std::vector<stream_index_pair> IMAGE_STREAMS = {DEPTH, INFRA0, INFRA1, INFRA2,
COLOR,
FISHEYE,
FISHEYE1, FISHEYE2};
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23 changes: 10 additions & 13 deletions realsense2_camera/src/base_realsense_node.cpp
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Expand Up @@ -705,37 +705,34 @@ void BaseRealSenseNode::setupDevice()
ROS_INFO_STREAM("Device Sensors: ");
for(auto&& sensor : _dev_sensors)
{
for (auto& profile : sensor.get_stream_profiles())
{
auto video_profile = profile.as<rs2::video_stream_profile>();
stream_index_pair sip(video_profile.stream_type(), video_profile.stream_index());
if (_sensors.find( sip ) != _sensors.end())
continue;
_sensors[sip] = sensor;
}

std::string module_name = sensor.get_info(RS2_CAMERA_INFO_NAME);
if (sensor.is<rs2::depth_sensor>())
{
_sensors[DEPTH] = sensor;
_sensors[INFRA1] = sensor;
_sensors[INFRA2] = sensor;
_sensors_callback[module_name] = frame_callback_function;
}
else if (sensor.is<rs2::color_sensor>())
{
_sensors[COLOR] = sensor;
_sensors_callback[module_name] = frame_callback_function;
}
else if (sensor.is<rs2::fisheye_sensor>())
{
_sensors[FISHEYE] = sensor;
_sensors_callback[module_name] = frame_callback_function;
}
else if (sensor.is<rs2::motion_sensor>())
{
_sensors[GYRO] = sensor;
_sensors[ACCEL] = sensor;
_sensors_callback[module_name] = imu_callback_function;
}
else if (sensor.is<rs2::pose_sensor>())
{
_sensors[GYRO] = sensor;
_sensors[ACCEL] = sensor;
_sensors[POSE] = sensor;
_sensors[FISHEYE1] = sensor;
_sensors[FISHEYE2] = sensor;
_sensors_callback[module_name] = multiple_message_callback_function;
}
else
Expand Down Expand Up @@ -1808,7 +1805,7 @@ void BaseRealSenseNode::calcAndPublishStaticTransform(const stream_index_pair& s
{
if (!strcmp(e.what(), "Requested extrinsics are not available!"))
{
ROS_WARN_STREAM(e.what() << " : using unity as default.");
ROS_WARN_STREAM("(" << rs2_stream_to_string(stream.first) << ", " << stream.second << ") -> (" << rs2_stream_to_string(base_profile.stream_type()) << ", " << base_profile.stream_index() << "): " << e.what() << " : using unity as default.");
ex = rs2_extrinsics({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0,0,0}});
}
else
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