diff --git a/camera/licenses/ReadMe.txt b/camera/licenses/ReadMe.txt index eb71cd0e5d..ec997c2e5f 100644 --- a/camera/licenses/ReadMe.txt +++ b/camera/licenses/ReadMe.txt @@ -1,8 +1,12 @@ -Copyright (c) 2016, Intel Corporation. - -This RealSense-ROS ("Software") is furnished under license and may only be used or copied in accordance with the terms of that license. -No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted by this document. -The Software is subject to change without notice, and should not be construed as a commitment by Intel Corporation to market, license, sell or support any product or technology. -Unless otherwise provided for in the license under which this Software is provided, the Software is provided AS IS, with no warranties of any kind, express or implied. -Except as expressly permitted by the Software license, neither Intel Corporation nor its suppliers assumes any responsibility or liability for any errors or inaccuracies that may appear herein. -Except as expressly permitted by the Software license, no part of the Software may be reproduced, stored in a retrieval system, transmitted in any form, or distributed by any means without the express written consent of Intel Corporation. \ No newline at end of file +Copyright (c) 2016, Intel Corporation +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. 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. + +3. 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 HOLDER 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. diff --git a/camera/ros-realsense-nav/turtlebot/README.md b/camera/ros-realsense-nav/turtlebot/README.md new file mode 100644 index 0000000000..0c34102b54 --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/README.md @@ -0,0 +1,122 @@ + + +# Navigation with Intel® RealSense™ **R200** camera +This document presents the transition from a **Kinect** to the **R200** for the ROS Navigation stack. +It assumes the **R200** drivers were already installed, and that the navigation using the Kinect is working. + +#### Document outline +Click on the following links to navigate this document + +- [Initial setup](#a-initial-setup) +- [Mapping](#b-mapping) +- [Navigation](#c-navigation) +- [Simulating a mapping](#d-simulating-a-mapping) + +## A - Initial setup + +First, make sure you have the latest versions of the ROS navigation stack. Specifically, check that the following packages are up-to-date: + +- **turtlebot_description** +- **turtlebot_bringup** + +Before being able to use the navigation stack with the **R200**, you need to set a few things up. + +The `install_realsense_navigation.sh` script (located in the `install_resources` folder) will do everything needed. It will place the required files in their respective locations. + +From now on, if you want to use the **R200** as your turtlebot 3d sensor, you need to change environment variables: + +```bash +export TURTLEBOT_3D_SENSOR=r200 +export TURTLEBOT_STACKS=minimal +``` + +To have quick shortcuts, consider pasting this code snippet in your `~/.bash_aliases` file: + +```bash +alias setr200='export TURTLEBOT_3D_SENSOR=r200 && export TURTLEBOT_STACKS=minimal' +alias setkinect='export TURTLEBOT_3D_SENSOR=kinect && export TURTLEBOT_STACKS=hexagons' +``` + +## B - Mapping + +The only difference from the kinect version of the navigation stack is that you need to start the camera driver before the navigation: `roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch`. + +So, the normal flow would be : + +```bash +roslaunch turtlebot_bringup minimal.launch +roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch +roslaunch realsense_navigation gmapping.launch +roslaunch turtlebot_rviz_launchers view_navigation.launch +``` + +You may also want to teleoperate the robot, for instance with the keyboard. + +![](doc/img/mapping_screen.png) + +Once you're done mapping, you can save the map with the following command: + +```bash +rosrun map_server map_saver -f +``` + +> Don't put an extension to your map name, the .*yaml* and .*pgm* files will be created accordingly in you `~/.ros` folder. If you want, you can also provide an absolute path. + + +## C - Navigation + +Once you have a map, you can start the navigation with the following commands + +```bash +roslaunch turtlebot_bringup minimal.launch +roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch +roslaunch realsense_navigation navigation_demo.launch map:= +``` + +## D - Simulating a mapping +Now that you know how to map a room using the **R200**, you might need to repeat the process several times, to adjust all the parameters of the algorithm, or to test with depth enhancement. To avoid using the robot, we can simulate the scanning process (= robot moves + camera) thanks to **rosbag**. + +### 1. Recording a scan +The first thing to do is to record the scanning process. We will store in a *bag file* the required contents so we can later launch gmapping **on the same input data**. + +So we first need to start the turtlebot (+ the teleop of your choice) and the camera: + +```bash +roslaunch turtlebot_bringup minimal.launch +roslaunch realsense_camera realsense_r200_nodelet_standalone_preset.launch +``` + +Then, we will store the relevent topics in a bag file: + +* _/camera/depth/image_raw_ +* _/camera/depth/camera_info_ +* _/scan_ +* _/tf_ + +![](doc/img/bag_screen.png) +*You can visualize the bagfile with __rqt_bag__* + +> Note that we don't need to actually build the map, so calling gmapping is not necessary. But you can do it, to have an idea if you're not moving the robot too fast, for instance. + +```bash +rosbag record -O /camera/depth/image_raw /camera/depth/camera_info /mobile_base/commands/velocity /tf +``` + +You can now begin to move/teleop your robot around the room. Once you're done, kill first the rosbag record process, then the other nodes. + +### 2. Playing it back +From now on, you'll be able to simulate this mapping again. To do so, you should simply type this line in a terminal (without any other running node): + +```bash +roslaunch realsense_navigation simulate_mapping.launch bag_file:= +``` + +> The path to the bagfile is relative to the user `~` folder. To change this, use the *home* argument as follows: +> +> ```bash +> roslaunch realsense simulate_mapping.launch home:=/tmp bag_file:= +> ``` + +When the RVIZ window is up, you can press `SPACE` in your terminal to start the playback. + +Consider taking a look at the launchfile to see the different arguments. diff --git a/camera/ros-realsense-nav/turtlebot/doc/img/bag_screen.png b/camera/ros-realsense-nav/turtlebot/doc/img/bag_screen.png new file mode 100644 index 0000000000..ba66d73e7e Binary files /dev/null and b/camera/ros-realsense-nav/turtlebot/doc/img/bag_screen.png differ diff --git a/camera/ros-realsense-nav/turtlebot/doc/img/mapping_screen.png b/camera/ros-realsense-nav/turtlebot/doc/img/mapping_screen.png new file mode 100644 index 0000000000..1ef34ba4f2 Binary files /dev/null and b/camera/ros-realsense-nav/turtlebot/doc/img/mapping_screen.png differ diff --git a/camera/ros-realsense-nav/turtlebot/doc/img/screen-ds4-nav.png b/camera/ros-realsense-nav/turtlebot/doc/img/screen-ds4-nav.png new file mode 100644 index 0000000000..5770927d36 Binary files /dev/null and b/camera/ros-realsense-nav/turtlebot/doc/img/screen-ds4-nav.png differ diff --git a/camera/ros-realsense-nav/turtlebot/doc/style-doc.css b/camera/ros-realsense-nav/turtlebot/doc/style-doc.css new file mode 100644 index 0000000000..99c01e165a --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/doc/style-doc.css @@ -0,0 +1,46 @@ +/* Custom CSS for a better looking doc */ +body { + width: 60em; + outline-color: #eee; +} + +/* For smaller screens, adapt so it's still legible */ +@media screen and (max-width: 70em) { + body { + width: 40em; + } +} +@media screen and (max-width: 45em) { + body { + width: 90%; + } + + .markdown-body ul, .markdown-body ol { + padding-left: 1em; + } +} + +.markdown-body h1 { + text-align: center; + border-width: 4px; +} + +.markdown-body h1 small { + font-weight: normal; + +} + +.markdown-body h1 small:after { + content: ">"; + padding-left: 1em; + padding-right: 1em; +} + +.markdown-body hr { + background-color: #eee; +} + +.markdown-body .codehilite pre, .markdown-body pre { + background-color: #f0f0ed; +} + diff --git a/camera/ros-realsense-nav/turtlebot/install_realsense_navigation.sh b/camera/ros-realsense-nav/turtlebot/install_realsense_navigation.sh new file mode 100755 index 0000000000..c6707d6b42 --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/install_realsense_navigation.sh @@ -0,0 +1,10 @@ +#!/bin/bash + +# Installation script for realsense_navigation +# Requires root privileges + +sudo cp ./robot_description/kobuki_minimal_r200.urdf.xacro /opt/ros/$ROS_DISTRO/share/turtlebot_description/robots/ +sudo cp ./robot_description/r200.launch.xml /opt/ros/$ROS_DISTRO/share/turtlebot_bringup/launch/includes/3dsensor/ + +sudo mkdir -p /opt/ros/$ROS_DISTRO/share/realsense_navigation +sudo cp -r ./* /opt/ros/$ROS_DISTRO/share/realsense_navigation diff --git a/camera/ros-realsense-nav/turtlebot/launch/amcl.launch b/camera/ros-realsense-nav/turtlebot/launch/amcl.launch new file mode 100644 index 0000000000..8ca1b72d90 --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/launch/amcl.launch @@ -0,0 +1,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/ros-realsense-nav/turtlebot/launch/gmapping.launch b/camera/ros-realsense-nav/turtlebot/launch/gmapping.launch new file mode 100644 index 0000000000..7a306641ce --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/launch/gmapping.launch @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/ros-realsense-nav/turtlebot/launch/navigation_demo.launch b/camera/ros-realsense-nav/turtlebot/launch/navigation_demo.launch new file mode 100644 index 0000000000..bcef81f963 --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/launch/navigation_demo.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch b/camera/ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch new file mode 100644 index 0000000000..575a5a50f7 --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/launch/realsense_robot_description.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/camera/ros-realsense-nav/turtlebot/launch/simulate_mapping.launch b/camera/ros-realsense-nav/turtlebot/launch/simulate_mapping.launch new file mode 100644 index 0000000000..c6bcc076a9 --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/launch/simulate_mapping.launch @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/camera/ros-realsense-nav/turtlebot/package.xml b/camera/ros-realsense-nav/turtlebot/package.xml new file mode 100644 index 0000000000..86d6eab394 --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/package.xml @@ -0,0 +1,22 @@ + + + realsense_navigation + 0.0.1 + Intel(r) RealSense(tm) Technology package allowing the use of the R200 camera with the navigation stack + + Amit Moran + + See license attached. + + https://github.com/PercATI/RealSense-ROS + + Amit Moran + + catkin + roscpp + rospy + + roscpp + rospy + + diff --git a/camera/ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml b/camera/ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml new file mode 100644 index 0000000000..b89cdd26cc --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/robot_description/custom_costmap_params.yaml @@ -0,0 +1,24 @@ +global_costmap: + robot_radius: 0.20 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) + obstacle_layer: + scan: + data_type: LaserScan + topic: scan + marking: true + clearing: true + min_obstacle_height: 0.05 # previous: 0.25, too high for the DS4 configuration! + max_obstacle_height: 0.35 + +local_costmap: + robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) + obstacle_layer: + scan: + data_type: LaserScan + topic: scan + marking: true + clearing: true + min_obstacle_height: 0.05 # previous: 0.25, too high for the DS4 configuration! + max_obstacle_height: 0.35 + + + diff --git a/camera/ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro b/camera/ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro new file mode 100644 index 0000000000..662294778b --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/robot_description/kobuki_minimal_r200.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + + \ No newline at end of file diff --git a/camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae b/camera/ros-realsense-nav/turtlebot/robot_description/meshes/sensors/r200.dae new file mode 100644 index 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160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.08 + Style: Spheres + Topic: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/global_plan + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 12; 255 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/local_plan + Value: true + - Alpha: 0.8 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 785.05 + Min Color: 0; 0; 0 + Min Intensity: 29.39 + Name: Cost Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Flat Squares + Topic: /move_base/DWAPlannerROS/cost_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 9.621 + Min Color: 0; 0; 0 + Min Intensity: 3.621 + Name: Trajectory Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Boxes + Topic: /move_base/DWAPlannerROS/trajectory_cloud + Use Fixed Frame: true + Use rainbow: false + Value: true + Enabled: true + Name: Local Map + - Arrow Length: 0.2 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Name: Amcl Particle Swarm + Topic: /particlecloud + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Full Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/NavfnROS/plan + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /camera/depth/image_raw + Max Value: 2500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: + - Class: rviz/Orbit + Distance: 13 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Mapping3 + Near Clip Distance: 0.01 + Pitch: 1.5648 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.13659 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Mapping + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + Displays: + collapsed: false + Height: 985 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000018000000393fc0200000006fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000228000000dd00fffffffb0000000a0049006d0061006700650100000256000001650000001600ffffff000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000393000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004a40000039300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 63 + Y: 22 diff --git a/camera/ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz b/camera/ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz new file mode 100644 index 0000000000..8d45ceee6d --- /dev/null +++ b/camera/ros-realsense-nav/turtlebot/rviz/navigation_r200_without_depth.rviz @@ -0,0 +1,540 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + - /TF1/Tree1 + - /Global Map1/Planner1 + - /Local Map1 + - /Image1 + Splitter Ratio: 0.5 + Tree Height: 772 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cliff_sensor_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gyro_link: + Alpha: 1 + Show Axes: false + Show Trail: false + plate_bottom_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_top_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_kinect_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_kinect_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Squares + Topic: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.08 + Style: Spheres + Topic: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Value: true + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: true + Enabled: true + Name: Costmap + Topic: /move_base/global_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 0; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/global_plan + Value: true + Enabled: true + Name: Global Map + - Class: rviz/Group + Displays: + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Costmap + Topic: /move_base/local_costmap/costmap + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 12; 255 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Planner + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/DWAPlannerROS/local_plan + Value: true + - Alpha: 0.8 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 785.05 + Min Color: 0; 0; 0 + Min Intensity: 29.39 + Name: Cost Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Flat Squares + Topic: /move_base/DWAPlannerROS/cost_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: total_cost + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 9.621 + Min Color: 0; 0; 0 + Min Intensity: 3.621 + Name: Trajectory Cloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.04 + Style: Boxes + Topic: /move_base/DWAPlannerROS/trajectory_cloud + Use Fixed Frame: true + Use rainbow: false + Value: true + Enabled: true + Name: Local Map + - Arrow Length: 0.2 + Class: rviz/PoseArray + Color: 0; 192; 0 + Enabled: true + Name: Amcl Particle Swarm + Topic: /particlecloud + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Line Style: Lines + Line Width: 0.03 + Name: Full Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Topic: /move_base/NavfnROS/plan + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /camera/depth/image_raw + Max Value: 2500 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: false + Queue Size: 2 + Transport Hint: raw + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/Select + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/Measure + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Current View + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + Saved: + - Class: rviz/Orbit + Distance: 13 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Mapping3 + Near Clip Distance: 0.01 + Pitch: 1.5648 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.13659 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Name: Mapping + Near Clip Distance: 0.01 + Scale: 80 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + Displays: + collapsed: false + Height: 985 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd00000004000000000000018000000393fc0200000006fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000393000000dd00fffffffb0000000a0049006d0061006700650000000256000001650000001600ffffff000000010000010f00000393fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000393000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006500000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004a40000039300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 63 + Y: 14 diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp index 9edfa5b487..b38939c03a 100644 --- a/camera/src/realsense_camera_nodelet.cpp +++ b/camera/src/realsense_camera_nodelet.cpp @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. 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. + + 3. 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 HOLDER 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. *******************************************************************************/ #include "realsense_camera_nodelet.h" diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h index 11f0a56b76..42a60cc69a 100644 --- a/camera/src/realsense_camera_nodelet.h +++ b/camera/src/realsense_camera_nodelet.h @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. 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. + + 3. 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 HOLDER 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. *******************************************************************************/ #pragma once diff --git a/camera/test/realsense_camera_test_node.cpp b/camera/test/realsense_camera_test_node.cpp index 4b1387760a..6379c9ead7 100644 --- a/camera/test/realsense_camera_test_node.cpp +++ b/camera/test/realsense_camera_test_node.cpp @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. 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. + + 3. 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 HOLDER 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. *******************************************************************************/ #include "gtest/gtest.h" diff --git a/camera/test/realsense_camera_test_node.h b/camera/test/realsense_camera_test_node.h index 8679479b43..7233b020ec 100644 --- a/camera/test/realsense_camera_test_node.h +++ b/camera/test/realsense_camera_test_node.h @@ -1,9 +1,31 @@ /****************************************************************************** - INTEL CORPORATION PROPRIETARY INFORMATION - This software is supplied under the terms of a license agreement or nondisclosure - agreement with Intel Corporation and may not be copied or disclosed except in - accordance with the terms of that agreement - Copyright(c) 2011-2016 Intel Corporation. All Rights Reserved. + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. 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. + + 3. 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 HOLDER 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. *******************************************************************************/ #include diff --git a/camera/test/realsense_camera_test_rgbd_node.cpp b/camera/test/realsense_camera_test_rgbd_node.cpp index 20e7dfafd2..d3cf52ecca 100644 --- a/camera/test/realsense_camera_test_rgbd_node.cpp +++ b/camera/test/realsense_camera_test_rgbd_node.cpp @@ -1,3 +1,33 @@ +/****************************************************************************** + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. 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. + + 3. 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 HOLDER 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. + *******************************************************************************/ + #include "realsense_camera_test_rgbd_node.h" using namespace std; diff --git a/camera/test/realsense_camera_test_rgbd_node.h b/camera/test/realsense_camera_test_rgbd_node.h index 78a44b3ea0..1f4713e491 100644 --- a/camera/test/realsense_camera_test_rgbd_node.h +++ b/camera/test/realsense_camera_test_rgbd_node.h @@ -1,3 +1,33 @@ +/****************************************************************************** + Copyright (c) 2016, Intel Corporation + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. 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. + + 3. 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 HOLDER 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. + *******************************************************************************/ + #include #include #include