Release v2.2.9

.travis.yml

@@ -7,9 +7,9 @@ before_install:
   # - sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keys.gnupg.net:80 --recv-key C8B3A55A6F3EFCDE
   - sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main"
   - sudo apt-get update -qq
-  - sudo apt-get install librealsense2-dkms --allow-unauthenticated -y 
+  - sudo apt-get install librealsense2-dkms --allow-unauthenticated -y
   - sudo apt-get install librealsense2-dev --allow-unauthenticated -y
-  
+
 install:
   # install ROS:
   - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
@@ -23,34 +23,37 @@ install:
   - sudo apt-get install ros-kinetic-image-transport
   - sudo apt-get install ros-kinetic-tf -y
   - sudo apt-get install ros-kinetic-diagnostic-updater -y
+  - sudo apt-get install ros-kinetic-ddynamic-reconfigure -y
   - source ~/.bashrc
   - mkdir -p ~/catkin_ws/src/realsense
 
   # install realsense2-camera
   - mv * ~/catkin_ws/src/realsense/     # This leaves behind .git, .gitignore and .travis.yml but no matter.
   - cd ~/catkin_ws/src/
-  - catkin_init_workspace 
+  - catkin_init_workspace
   - cd ..
   - catkin_make clean
   - catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
   - catkin_make install
   - echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
   - source ~/.bashrc
-  
+
     # download data:
   - bag_filename="http://realsense-hw-public.s3.amazonaws.com/rs-tests/TestData/outdoors.bag";
   - wget $bag_filename -P "records/"
-
+  - bag_filename="http://realsense-hw-public.s3-eu-west-1.amazonaws.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag";
+  - wget $bag_filename -P "records/"
+
   # Run test:
 script:
   - python src/realsense/realsense2_camera/scripts/rs2_test.py --all
-  
- 
+
+
 before_cache:
   - rm -f  $HOME/.gradle/caches/modules-2/modules-2.lock
   - rm -fr $HOME/.gradle/caches/*/plugin-resolution/
 cache:
   directories:
     - $HOME/.gradle/caches/
     - $HOME/.gradle/wrapper/
-    - $HOME/.android/build-cache
+    - $HOME/.android/build-cache

README.md

@@ -1,5 +1,7 @@
 # ROS Wrapper for Intel® RealSense™ Devices
-These are packages for using Intel RealSense cameras (D400 series and the SR300) with ROS.
+These are packages for using Intel RealSense cameras (D400 series SR300 camera and T265 Tracking Module) with ROS.
+
+LibRealSense supported version: v2.29.0 (see [realsense2_camera release notes](https://github.com/IntelRealSense/realsense-ros/releases))
 
 ## Installation Instructions
 
@@ -11,7 +13,7 @@ The following instructions support ROS Indigo, on **Ubuntu 14.04**, and ROS Kine
 - #### Install from [Debian Package](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev and librealsense-dkms packages.
 
 #### OR
-- #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.19.2) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
+- #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.29.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
 
 ### Step 2: Install the ROS distribution
 - #### Install [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu), on Ubuntu 16.04
@@ -23,6 +25,14 @@ mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/src/
 ```
 - Clone the latest Intel® RealSense™ ROS from [here](https://github.com/intel-ros/realsense/releases) into 'catkin_ws/src/'
+```bashrc
+git clone https://github.com/IntelRealSense/realsense-ros.git
+cd realsense-ros/
+git checkout `git tag | sort -V | grep -P "^\d+\.\d+\.\d+" | tail -1`
+cd ..
+```
+- Make sure all dependent packages are installed. You can check .travis.yml file for reference.
+- Specifically, make sure that the ros package *ddynamic_reconfigure* is installed. If *ddynamic_reconfigure* cannot be installed using APT, you may clone it into your workspace 'catkin_ws/src/' from [here](https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel) (Version 0.2.0)
 
 ```bash
 catkin_init_workspace
@@ -65,13 +75,17 @@ After running the above command with D435i attached, the following list of topic
 - /camera/gyro/sample
 - /camera/accel/imu_info
 - /camera/accel/sample
+- /diagnostics
 
 The "/camera" prefix is the default and can be changed. Check the rs_multiple_devices.launch file for an example.
 If using D435 or D415, the gyro and accel topics wont be available. Likewise, other topics will be available when using T265 (see below).
 
 ### Launch parameters
 The following parameters are available by the wrapper:
-- **serial_no**: will attach to the device with the given serial number. Default, attach to available RealSense device in random.
+- **serial_no**: will attach to the device with the given serial number (*serial_no*) number. Default, attach to available RealSense device in random.
+- **usb_port_id**: will attach to the device with the given USB port (*usb_port_id*). i.e 4-1, 4-2 etc. Default, ignore USB port when choosing a device.
+- **device_type**: will attach to a device whose name includes the given *device_type* regular expression pattern. Default, ignore device type. For example, device_type:=d435 will match d435 and d435i. device_type=d435(?!i) will match d435 but not d435i.
+
 - **rosbag_filename**: Will publish topics from rosbag file.
 - **initial_reset**: On occasions the device was not closed properly and due to firmware issues needs to reset. If set to true, the device will reset prior to usage.
 - **align_depth**: If set to true, will publish additional topics with the all the images aligned to the depth image.</br>
@@ -96,15 +110,17 @@ The topics are of the form: ```/camera/aligned_depth_to_color/image_raw``` etc.
 - **All the rest of the frame_ids can be found in the template launch file: [nodelet.launch.xml](./realsense2_camera/launch/includes/nodelet.launch.xml)**
 - **unite_imu_method**: The D435i and T265 cameras have built in IMU components which produce 2 unrelated streams: *gyro* - which shows angular velocity and *accel* which shows linear acceleration. Each with it's own frequency. By default, 2 corresponding topics are available, each with only the relevant fields of the message sensor_msgs::Imu are filled out.
 Setting *unite_imu_method* creates a new topic, *imu*, that replaces the default *gyro* and *accel* topics. Under the new topic, all the fields in the Imu message are filled out.
- - linear_interpolation: Each message contains the last original value of item A interpolated with the previous value of item A, combined with the last original value of item B on last item B's timestamp. Items A and B are accel and gyro interchangeably, according to which type recently arrived from the sensor. The idea is to give the most recent information, united and without repetitions.
- - copy: For each new message, accel or gyro, the relevant fields and timestamp are filled out while the others maintain the previous data.
+ - **linear_interpolation**: Each message contains the last original value of item A interpolated with the previous value of item A, combined with the last original value of item B on last item B's timestamp. Items A and B are accel and gyro interchangeably, according to which type recently arrived from the sensor. The idea is to give the most recent information, united and without repetitions.
+ - **copy**: For each new message, accel or gyro, the relevant fields and timestamp are filled out while the others maintain the previous data.
 - **clip_distance**: remove from the depth image all values above a given value (meters). Disable by giving negative value (default)
 - **linear_accel_cov**, **angular_velocity_cov**: sets the variance given to the Imu readings. For the T265, these values are being modified by the inner confidence value.
 - **enable_bright_region_removal**, **r_blurring**, **r_dilation**, **bright_thresh**: *enable_bright_region_removal* choose whether to remove depth for bright regions. Bright regions are the regions whose pixels have at least one pixels brighter than *bright_thresh* within *r_dilation* pixels in x and y directions of a blurred *infra1* frame. Here, a blurred *infra1* frame is generated by bluring a *infra1* frame with a box filter of (2 * *r_blurring* + 1) * (2 * *r_blurring* + 1) kernel. Pointcloud is not published if *enable_bright_region_removal* is *true* and *infra1* frame is disabled.
 - **r_ignore_v**, **r_ignore_h**: remove depth from areas *r_ignore_v* pixels from upper and lower borders, and *r_ignore_h* pixels from left and right borders. Disable by giving zero or any negative value (defalut)
 - **hold_back_imu_for_frames**: Images processing takes time. Therefor there is a time gap between the moment the image arrives at the wrapper and the moment the image is published to the ROS environment. During this time, Imu messages keep on arriving and a situation is created where an image with earlier timestamp is published after Imu message with later timestamp. If that is a problem, setting *hold_back_imu_for_frames* to *true* will hold the Imu messages back while processing the images and then publish them all in a burst, thus keeping the order of publication as the order of arrival. Note that in either case, the timestamp in each message's header reflects the time of it's origin.
 - **topic_odom_in**: For T265, add wheel odometry information through this topic. The code refers only to the *twist.linear* field in the message.
 - **calib_odom_file**: For the T265 to include odometry input, it must be given a [configuration file](https://github.com/IntelRealSense/librealsense/blob/master/unit-tests/resources/calibration_odometry.json). Explanations can be found [here](https://github.com/IntelRealSense/librealsense/pull/3462). The calibration is done in ROS coordinates system.
+- **publish_tf**: boolean, publish or not TF at all. Defaults to True.
+- **tf_publish_rate**: double, positive values mean dynamic transform publication with specified rate, all other values mean static transform publication. Defaults to 0 
 - **publish_odom_tf**: If True (default) publish TF from odom_frame to pose_frame.
 
 
@@ -131,6 +147,8 @@ rosrun rqt_reconfigure rqt_reconfigure
 <p align="center"><img src="https://user-images.githubusercontent.com/40540281/55330573-065d8600-549a-11e9-996a-5d193cbd9a93.PNG" /></p>
 
 ### Work with multiple cameras
+**Important Notice:** Launching multiple T265 cameras is currently not supported. This will be addressed in a later version. 
+
 Here is an example of how to start the camera node and streaming with two cameras using the [rs_multiple_devices.launch](./realsense2_camera/launch/rs_multiple_devices.launch).
 ```bash
 roslaunch realsense2_camera rs_multiple_devices.launch serial_no_camera1:=<serial number of the first camera> serial_no_camera2:=<serial number of the second camera>
@@ -181,10 +199,29 @@ roslaunch realsense2_camera demo_t265.launch
 
 ### About Frame ID
 The wrapper publishes static transformations(TFs). The Frame Ids are divided into 3 groups:
-- ROS convention frames: follow the format of <tf_prefix>_<_stream>"_frame" for example: camera_depth_frame, camera_infra1_frame, etc.
-- Original frame coordinate system: with the suffix of <_optical_frame>. For example: camera_infra1_optical_frame. Check the device documentation for specific coordinate system for each stream.
+- ROS convention frames: follow the format of <tf_prefix>\_<\_stream>"\_frame" for example: camera_depth_frame, camera_infra1_frame, etc.
+- Original frame coordinate system: with the suffix of <\_optical_frame>. For example: camera_infra1_optical_frame. Check the device documentation for specific coordinate system for each stream.
 - base_link: For example: camera_link. A reference frame for the device. In D400 series and SR300 it is the depth frame. In T265, the pose frame.
 
+
+### realsense2_description package:
+For viewing included models, a separate package is included. For example:
+```bash
+roslaunch realsense2_description view_d415_model.launch
+```
+
+### Unit tests:
+Unit-tests are based on bag files saved on S3 server. These can be downloaded using the following commands:
+```bash
+cd catkin_ws
+wget "http://realsense-hw-public.s3.amazonaws.com/rs-tests/TestData/outdoors.bag" -P "records/"
+wget "http://realsense-hw-public.s3-eu-west-1.amazonaws.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag" -P "records/"
+```
+Then, unit-tests can be run using the following command:
+```bash
+python src/realsense/realsense2_camera/scripts/rs2_test.py --all
+```
+
 ## Packages using RealSense ROS Camera
 | Title | Links |
 | ----- | ----- |
@@ -194,6 +231,7 @@ The wrapper publishes static transformations(TFs). The Frame Ids are divided int
 * This ROS node does not currently support [ROS Lunar Loggerhead](http://wiki.ros.org/lunar).
 * This ROS node does not currently work with [ROS 2](https://github.com/ros2/ros2/wiki).
 * This ROS node currently does not provide the unit-tests which ensure the proper operation of the camera.  Future versions of the node will provide ROS compatible unit-tests.
+* This ROS node currently does not support running multiple T265 cameras at once. This will be addressed in a future update. 
 
 ## License
 Copyright 2018 Intel Corporation