From af08271d07dc5b00227d0dd0099d65bd335ca6fd Mon Sep 17 00:00:00 2001 From: Sharron LIU Date: Tue, 2 Jul 2019 15:48:58 +0800 Subject: [PATCH] Adapt to ROS2 Dashing: automatically declare paramter Fix issue https://github.com/intel/ros2_intel_realsense/issues/55 According to discussion in RCLCPP, for ROS2 Dashing release, "declare parameter" is expected to load configures from yaml file. See detail discussion here: https://github.com/ros2/rclcpp/issues/715 Signed-off-by: Sharron LIU --- realsense_ros2_camera/CMakeLists.txt | 10 ++++++---- realsense_ros2_camera/src/realsense_camera_node.cpp | 3 ++- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/realsense_ros2_camera/CMakeLists.txt b/realsense_ros2_camera/CMakeLists.txt index 0f7b711..5fe1631 100644 --- a/realsense_ros2_camera/CMakeLists.txt +++ b/realsense_ros2_camera/CMakeLists.txt @@ -49,10 +49,12 @@ if(UNIX OR APPLE) set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pie") endif() -find_package(librealsense2) -if(NOT librealsense2_FOUND) - message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n") -endif() +#find_package(librealsense2) +#if(NOT librealsense2_FOUND) +# message(FATAL_ERROR "\n\n Intel RealSense SDK 2.0 is missing, please install it from https://github.com/IntelRealSense/librealsense/releases\n\n") +#endif() +find_library(librealsense2_LIBRARIES realsense2) +find_path(librealsense2_INCLUDE_DIRS librealsense2/rs.hpp) if(CMAKE_BUILD_TYPE EQUAL "RELEASE") message(STATUS "Create Release Build.") diff --git a/realsense_ros2_camera/src/realsense_camera_node.cpp b/realsense_ros2_camera/src/realsense_camera_node.cpp index d978cf0..597b7f7 100644 --- a/realsense_ros2_camera/src/realsense_camera_node.cpp +++ b/realsense_ros2_camera/src/realsense_camera_node.cpp @@ -98,7 +98,8 @@ class RealSenseCameraNode : public rclcpp::Node { public: RealSenseCameraNode() - : Node("RealSenseCameraNode"), + : Node("RealSenseCameraNode", + rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)), _ros_clock(RCL_ROS_TIME), _serial_no(""), _base_frame_id(""),