realsense2_camera on osx+win (#129)

* realsense2_camera

* Update vinca_win.yaml

* Add patch/ros-noetic-librealsense2.patch

* Try fix

* Add patch/ros-noetic-realsense2-camera.patch

* Build only librealsense2 for now to save time

patch/ros-noetic-librealsense2.patch

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1ddedfb..2b97c7e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -2,6 +2,10 @@
+ cmake_minimum_required(VERSION 3.1.0)
+ project(librealsense2 LANGUAGES CXX C)
+
++if (WIN32)
++  file(COPY ${CMAKE_SOURCE_DIR}/src/win7/drivers/IntelRealSense_D400_series_win7.inf DESTINATION ${CMAKE_SOURCE_DIR})
++endif()
++
+ include(CMake/lrs_options.cmake)
+ include(CMake/connectivity_check.cmake)
+

patch/ros-noetic-realsense2-camera.patch

@@ -0,0 +1,13 @@
+diff --git a/src/base_realsense_node.cpp b/src/base_realsense_node.cpp
+index f918500..531a2e9 100644
+--- a/src/base_realsense_node.cpp
++++ b/src/base_realsense_node.cpp
+@@ -2153,7 +2153,7 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co
+         return;
+     ROS_INFO_STREAM_ONCE("publishing " << (_ordered_pc ? "" : "un") << "ordered pointcloud.");
+
+-    rs2_stream texture_source_id = static_cast<rs2_stream>(_pointcloud_filter->get_option(rs2_option::RS2_OPTION_STREAM_FILTER));
++    rs2_stream texture_source_id = static_cast<rs2_stream>((int)_pointcloud_filter->get_option(rs2_option::RS2_OPTION_STREAM_FILTER));
+     bool use_texture = texture_source_id != RS2_STREAM_ANY;
+     static int warn_count(0);
+     static const int DISPLAY_WARN_NUMBER(5);

vinca_osx.yaml

@@ -36,17 +36,18 @@ packages_select_by_deps:
   ##
   # DONE OSX
   ##
-  - tf2_web_republisher
-  - franka_ros
-  - franka_example_controllers
-  - libfranka
-  - franka_visualization
-  - franka_hw
-  - franka_gripper
-  - franka_ros
-  - franka_msgs
-  - franka_description
-  - franka_control
+  - realsense2_camera
+  # - tf2_web_republisher
+  # - franka_ros
+  # - franka_example_controllers
+  # - libfranka
+  # - franka_visualization
+  # - franka_hw
+  # - franka_gripper
+  # - franka_ros
+  # - franka_msgs
+  # - franka_description
+  # - franka_control
   # - fcl
   # - ros_numpy
   # - eigenpy

vinca_win.yaml

@@ -29,13 +29,15 @@ skip_existing:
   - https://conda.anaconda.org/robostack/
 
 packages_select_by_deps:
-  - fcl
   # - pybind11_catkin  # need to be unvendored
 
   ##
   # DONE Win
   ##
-  - tf2_web_republisher
+  - librealsense2
+  # - realsense2_camera
+  # - fcl
+  # - tf2_web_republisher
   # - catkin
   # - kdl_parser_py
   # - image_view