Add Dynamic Transforms support -- multi-cam #169

mdhorn · 2016-12-17T00:38:27Z

Fixes Issue: #120

Due to a ROS bug which prevents publishing more than one static
transform in separate processes, enable the use of dynamic
camera transforms when needed for multiple camera support.

Static transforms are still the default.

See:
ros/ros_comm#146
ros/geometry2#181

Due to a ROS bug which prevents publishing more than one static transform in separate processes, enable the use of dynamic camera transforms when needed for multiple camera support. Static transforms are still the default. See: ros/ros_comm#146 ros/geometry2#181

mkhansenbot

One minor functional change, and one cosmetic change requested, see comments inline. I tested on R200 and ZR300, seems to work. Tested both together with separate launch files and that worked too when setting the enable_tf_dynamic=true.

Also, can we update the PR title and the description comments to reflect that static is still the default, we're just adding dynamic as an option.

mkhansenbot · 2016-12-17T19:41:00Z

realsense_camera/src/base_nodelet.cpp

@@ -41,6 +41,11 @@ namespace realsense_camera
   */
  BaseNodelet::~BaseNodelet()
  {
+    if (enable_tf_ == true && enable_tf_dynamic_ == false)


I think this should be enable_tf_dynamic_ == true

Shouldn't it?

mkhansenbot · 2016-12-17T19:41:48Z

realsense_camera/src/base_nodelet.cpp

@@ -91,10 +96,20 @@ namespace realsense_camera
    setStreams();
    startCamera();

-    // Start publishing tranforms
+    // Start tranforms thread


Can we fix the spelling of transforms?

kevincwells

LGTM from code perspective. Only thing that stood out was the true/false change Matt saw and you already fixed.

Agreed that the PR title and subject needs to be changed if static is still the actual default as it is here.

Cf issue IntelRealSense/realsense-ros#169

severin-lemaignan · 2017-03-24T14:19:03Z

realsense_camera/src/base_nodelet.cpp

+    // Publish transforms for the cameras
+    ROS_INFO_STREAM(nodelet_name_ << " - Publishing camera transforms (/tf)");
+
+    ros::Rate loop_rate(1);


Any reason for such a slow loop? tf transforms are traditionally published at ~50Hz.

Additional parameter proposed in #221

The data is not changing, hence the slow loop rate.

The default for transforms is to publish them with a static transform, but due to a ROS bug (and a camera driver bug for F200/SR300) the dynamic transform option was added.
See http://wiki.ros.org/realsense_camera#Transform_Restrictions

doronhi · 2019-06-30T13:31:29Z

@pavloblindnology , Somehow, until very recently I remained unaware of your work.
Would you like to open a new PR so it can be merged?
I would also like to add the publish_tf flag again, as was implemented here
The issue was referenced again at #9.
What do you think?

pavloblindnology · 2019-07-01T10:37:33Z

@doronhi Ok, I'll open PR.
AFAIU, enable_tf is intended to turn off TF generation at all (either static or dynamic), while tf_dynamic is used to switch between static and dynamic. Correct?
May I suggest to introduce a single variable, like tf_generation which can have 3 values: off, static, dynamic. This would get rid of all the mess with having 2 variables with unclear meaning (enable_tf, publish_tf).

doronhi · 2019-07-01T12:35:57Z

Thanks!
I think enable_tf was already deleted. The last state was to have publish_tf which meant, well, to publish tf, and tf_dynamic which, if set to true, would cause the sending the dynamic_tf instead of the static_tf.

Maybe you are right and a 3 values variable is clearer. Since I don't know how to conduct a survey, and we need to update the README.md anyway, it's totally fine by me :)

And if you discover along the way that that solution has some unforeseen complications, the other solution is fine too.

IntelRealSense#169 IntelRealSense#660

* moved description files into realsense2_description package * updated references to realsense2_description * changed install to single block * Add option to use external nodelet manager Right now a nodelet manager is always created when running the realsense node. This is not always a wanted behaviour as a nodelet manager might already be running somewhere else in the ROS system. This patch adds a parameter to disable launching a new nodelet manager. In this case the nodelet manager must be provided using the manager arg. The new parameter is set to false by default, so existing behaviour is not changed. * Register dynamic options in parent node handle If running in an external nodelet manager this makes sure dynamic options are in the right namespace. This does not change existing behaviour. * Remove copied version of ddynamic_reconfigure * Migrate to https://github.com/pal-robotics/ddynamic_reconfigure * Add rule to install ddynamic_reconfigure * Update README.md * fixed bug: wrong frame_id for imu frames. (IntelRealSense#784) * Remove copied version of ddynamic_reconfigure * Migrate to https://github.com/pal-robotics/ddynamic_reconfigure * update README.md to include realsense2_description * exit node if failed to initialize. * update version to 2.2.5 * Add accel test * add rs_rtabmap.launch * Add test for accel in d435i. Needs recorded file: 20190527_D435i.bag * add d435i accel unit-test * Added ddynamic_reconfigure installation note (IntelRealSense#795) * fix remarks to imu test * fixed README.md file. * add librealsense2.rdmanifest file * update version to 2.2.6 * add librealsense2 dependency * disable static_tf_1 test - not working on Travis. Modified points_cloud_1 test - make more robust * rename librealsense2.rdmanifest to librealsense2_xenial.rdmanifest add file: librealsense2_bionic.rdmanifest * publish imu_info * Fix empty cmake variable and dependency on librealsense (IntelRealSense#747) * update apt-key for ROS repos. * update apt-key for ROS repos. * add external_manager option to rs_camera.launch * enable reaquire tag whan launching node * clarify installation process. * Add option to use external nodelet manager Right now a nodelet manager is always created when running the realsense node. This is not always a wanted behaviour as a nodelet manager might already be running somewhere else in the ROS system. This patch adds a parameter to disable launching a new nodelet manager. In this case the nodelet manager must be provided using the manager arg. The new parameter is set to false by default, so existing behaviour is not changed. * Register dynamic options in parent node handle If running in an external nodelet manager this makes sure dynamic options are in the right namespace. This does not change existing behaviour. * Fix empty cmake variable and dependency on librealsense (IntelRealSense#747) * add external_manager option to rs_camera.launch * clarify installation process. * publish gyro/imu_info and accel/imu_info only once. * Make T265 less noisy in the info log (IntelRealSense#823) * cleaning * Updated README to include notice of running multiple T265 cameras not being currently supported (IntelRealSense#834) * fixed bug: advertise unsupported streams. (IntelRealSense#811) * fixed bug: advertise unsupported streams. * constraints on accel_up test - loosen up a bit to compensate for different in frames arriving from file. * publish imu_info (IntelRealSense#809) * publish imu_info * update apt-key for ROS repos. * Add option to use external nodelet manager * Register dynamic options in parent node handle * Fix empty cmake variable and dependency on librealsense (IntelRealSense#747) * add external_manager option to rs_camera.launch * clarify installation process. * publish gyro/imu_info and accel/imu_info only once. * cleaning * move ddynamic_reconfigure settings to before start streaming. (IntelRealSense#843) * Add support for SR305 (IntelRealSense#844) fix bug in scaling depth. * update version to 2.2.7 * Dependency on xacro missing. * fix bug: filters do not show in rqt_reconfigure. (IntelRealSense#858) * add asic temperature and projector temperature to diagnostics topic. (IntelRealSense#878) * add asic temperature and projector temperature to diagnostics topic. * fix bug relating reading from file. * set auto_exposure ROI. (IntelRealSense#883) * Add the ability to set auto_exposure ROI. Available using dynamic reconfigure parameters or by setting the following to the launch file: <rosparam> /camera/rgb_camera/auto_exposure_roi/right: 250 /camera/stereo_module/auto_exposure_roi/top: 50 </rosparam> * Check temperature freqency (IntelRealSense#884) Add the ability to set auto_exposure ROI. Available using dynamic reconfigure parameters or by setting the following to the launch file: <rosparam> /camera/rgb_camera/auto_exposure_roi/right: 250 /camera/stereo_module/auto_exposure_roi/top: 50 </rosparam> * update temperature checks to once every 10 seconds. * upgrade version: 2.2.8 * fix issue: node crash when device disconnects. * Add option to disable odom tf to be published This is useful if you want to link your camera to your existing robot tf tree. tf can not handle two parents for the camera_pose_frame * Add option to disable odom tf * Add dynamic transform support again. IntelRealSense#169 IntelRealSense#660 * force infrared stream to choose stable Y8 format. * add publish_tf and tf_publish_rate to README.md fixed print. * added support for multiple cameras * Allow to use usb port number to connect to devices * use regex to parse usb description string. handle cases where failed to extract usb bus and port. * Add device_type option to choose the device type using regular expression. * update README.md regarding port_no and device_type options. * renamed porn_no to usb_port_id * update README.md regarding usb_port_id * Update opensource_tracking.launch Fixed a wrong parameter in imufiltermadgwick * set serial number in diagnostics when running from bag file * upgrade version: 2.2.9

mdhorn self-assigned this Dec 17, 2016

mdhorn requested review from mkhansenbot and reaganlo December 17, 2016 00:38

mdhorn force-pushed the tf-back-to-dynamic branch from 3de83ad to ffacb7c Compare December 17, 2016 18:07

mdhorn force-pushed the tf-back-to-dynamic branch from ffacb7c to e2cf09c Compare December 17, 2016 18:15

mkhansenbot suggested changes Dec 17, 2016

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Code Review Fixes

cb6e27b

mdhorn requested a review from kevincwells December 17, 2016 21:12

kevincwells approved these changes Dec 17, 2016

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mdhorn changed the title ~~Switch to Dynamic Transforms for default~~ Add Dynamic Transforms support -- multi-cam Dec 17, 2016

mkhansenbot approved these changes Dec 17, 2016

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mdhorn merged commit 334d967 into IntelRealSense:indigo-devel Dec 17, 2016

mdhorn deleted the tf-back-to-dynamic branch December 17, 2016 23:31

severin-lemaignan added a commit to freeplay-sandbox/core that referenced this pull request Mar 21, 2017

Publish the camera's TF frames continuously

8c5b8dc

Cf issue IntelRealSense/realsense-ros#169

severin-lemaignan reviewed Mar 24, 2017

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severin-lemaignan mentioned this pull request Mar 24, 2017

Enable configuration of the TF publication rate when using tf_dynamic #221

Merged

pavloblindnology mentioned this pull request Mar 7, 2019

Dynamic transform support again #660

Closed

doronhi mentioned this pull request Jul 11, 2019

Optionally disable TF pub, add service for querying serial number #845

Closed

pavloblindnology added a commit to Blindnology/realsense that referenced this pull request Aug 23, 2019

Add dynamic transform support again.

e0076b2

IntelRealSense#169 IntelRealSense#660

pavloblindnology mentioned this pull request Aug 23, 2019

Add dynamic transform support again. #902

Merged

MartyG-RealSense mentioned this pull request Nov 22, 2022

tf frames not being published in a multi camera setup with D415 cameras #2554

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Add Dynamic Transforms support -- multi-cam #169

Add Dynamic Transforms support -- multi-cam #169

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Add Dynamic Transforms support -- multi-cam #169

Add Dynamic Transforms support -- multi-cam #169

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