Updated ros2 examples and readme

realsense2_camera/examples/align_depth/README.md

@@ -0,0 +1,12 @@
+# Align Depth to Color
+This example shows how to start the camera node and align depth stream to color stream.
+```
+ros2 launch realsense2_camera rs_align_depth_launch.py
+```
+
+The aligned image will be published to the topic "/aligned_depth_to_color/image_raw"
+
+Also, align depth to color can enabled by following cmd:
+```
+ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true"
+```

realsense2_camera/examples/dual_camera/README.md

@@ -0,0 +1,123 @@
+# Launching Dual RS ROS2 nodes
+The following example lanches two RS ROS2 nodes.
+```
+ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=<serial number of the first camera> serial_no2:=<serial number of the second camera>
+```
+
+## Example:
+Let's say the serial numbers of two RS cameras are 207322251310 and 234422060144.
+```
+ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:="'207322251310'" serial_no2:="'234422060144'"
+```
+or
+```
+ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144
+```
+
+## How to know the serial number?
+Method 1: Using the rs-enumerate-devices tool
+```
+rs-enumerate-devices | grep "Serial Number"
+```
+
+Method 2: Connect single camera and run
+```
+ros2 launch realsense2_camera rs_launch.py
+```
+and look for the serial number in the log printed to screen under "[INFO][...] Device Serial No:".
+
+# Using Multiple RS camera by launching each in differnet terminals
+Make sure you set a different name and namespace for each camera.
+
+Terminal 1:
+```
+ros2 launch realsense2_camera rs_launch.py serial_no:="'207322251310'" camera_name:='camera1' camera_namespace:='camera1'
+```
+Terminal 2:
+```
+ros2 launch realsense2_camera rs_launch.py serial_no:="'234422060144'" camera_name:='camera2' camera_namespace:='camera2'
+```
+
+# Multiple cameras showing a semi-unified pointcloud
+The D430 series of RealSense cameras use stereo based algorithm to calculate depth. This mean, a couple of cameras can operate on the same scene. For the purpose of this demonstration, let's say 2 cameras can be coupled to look at the same scene from 2 different points of view. See image:
+
+![multi_cameras](https://user-images.githubusercontent.com/127019120/268692789-1b3d5d8b-a41f-4a97-995d-81d44b4bcacb.jpg)
+
+The schematic settings could be described as:  
+X--------------------------------->cam_2  
+|&emsp;&emsp;&emsp;&emsp;(70 cm)  
+|  
+|  
+|&ensp;(60 cm)  
+|  
+|  
+/  
+cam_1  
+
+The cameras have no data regarding their relative position. That’s up to a third party program to set. To simplify things, the coordinate system of cam_1 can be considered as the refernce coordinate system for the whole scene.
+
+The estimated translation of cam_2 from cam_1 is 70(cm) on X-axis and 60(cm) on Y-axis. Also, the estimated yaw angle of cam_2 relative to cam_1 as 90(degrees) clockwise. These are the initial parameters to be set for setting the transformation between the 2 cameras as follows:
+
+```
+ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144 tf.translation.x:=0.7 tf.translation.y:=0.6 tf.translation.z:=0.0 tf.rotation.yaw:=-90.0 tf.rotation.pitch:=0.0 tf.rotation.roll:=0.0
+```
+
+If the unified pointcloud result is not good, follow the below steps to fine-tune the calibaration.   
+
+## Visualizing the pointclouds and fine-tune the camera calibration
+Launch 2 cameras in separate terminals:
+
+**Terminal 1:**
+```
+ros2 launch realsense2_camera rs_launch.py serial_no:="'207322251310'" camera_name:='camera1' camera_namespace:='camera1'
+```
+**Terminal 2:**
+```
+ros2 launch realsense2_camera rs_launch.py serial_no:="'234422060144'" camera_name:='camera2' camera_namespace:='camera2'
+```
+**Terminal 3:**  
+```
+rviz2
+```
+Open rviz and set '“Fixed Frame'” to “camera1_link”  
+Add Pointcloud2-> By topic -> /camera1/camera1/depth/color/points  
+Add Pointcloud2 -> By topic -> /camera2/camera2/depth/color/points  
+
+**Terminal 4:**  
+Run the 'set_cams_transforms.py' tool. It can be used to fine-tune the calibaration.
+```
+python src/realsense-ros/realsense2_camera/scripts/set_cams_transforms.py camera1_link camera2_link 0.7 0.6 0 -90 0 0
+```
+
+**Instructions printed by the tool:**
+```
+Using default file /home/user_name/ros2_ws/src/realsense-ros/realsense2_camera/scripts/_set_cams_info_file.txt
+
+Use given initial values.
+
+Press the following keys to change mode: x, y, z, (a)zimuth, (p)itch, (r)oll
+
+For each mode, press 6 to increase by step and 4 to decrease
+
+Press + to multiply step by 2 or - to divide
+
+Press Q to quit
+```
+
+Note that the tool prints the path of the current configuration file. It saves its last configuration automatically, all the time, to be used on the next run.
+
+After a lot of fiddling around, unified pointcloud looked better with the following calibaration:
+```
+x = 0.75  
+y = 0.575  
+z = 0  
+azimuth = -91.25  
+pitch = 0.75  
+roll = 0  
+```
+
+Now, use the above results in the launch file:
+```
+ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=_207322251310 serial_no2:=_234422060144 tf.translation.x:=0.75 tf.translation.y:=0.575 tf.translation.z:=0.0 tf.rotation.yaw:=-91.25 tf.rotation.pitch:=0.75 tf.rotation.roll:=0.0
+```
+

realsense2_camera/examples/dual_camera/rs_dual_camera_launch.py

@@ -19,7 +19,7 @@
 # For each device, the parameter name was changed to include an index.
 # For example: to set camera_name for device1 set parameter camera_name1.
 # command line example:
-# ros2 launch realsense2_camera rs_dual_camera_launch.py camera_name1:=D400 device_type2:=l5. device_type1:=d4..
+# ros2 launch realsense2_camera rs_dual_camera_launch.py serial_no1:=<serial number of 1st camera> serial_no2:=<serial number of 2nd camera>
 
 """Launch realsense2_camera node."""
 import copy
@@ -68,7 +68,7 @@ def duplicate_params(general_params, posix):
     return local_params
 
 def launch_static_transform_publisher_node(context : LaunchContext):
-    # dummy static transformation from camera1 to camera2
+    # Static transformation from camera1 to camera2
     node = launch_ros.actions.Node(
             name = "my_static_transform_publisher",
             package = "tf2_ros",
@@ -104,6 +104,6 @@ def generate_launch_description():
             namespace='',
             executable='rviz2',
             name='rviz2',
-            arguments=['-d', [ThisLaunchFileDir(), '/dual_camera_pointcloud.rviz']]
+            arguments=['-d', [ThisLaunchFileDir(), '/rviz/dual_camera_pointcloud.rviz']]
         )
     ])

realsense2_camera/examples/dual_camera/dual_camera_pointcloud.rviz → realsense2_camera/examples/dual_camera/rviz/dual_camera_pointcloud.rviz

@@ -74,7 +74,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /camera1/depth/color/points
+        Value: /camera1/camera1/depth/color/points
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
@@ -108,7 +108,7 @@ Visualization Manager:
         Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /camera2/depth/color/points
+        Value: /camera2/camera2/depth/color/points
       Use Fixed Frame: true
       Use rainbow: true
       Value: true

realsense2_camera/examples/launch_from_rosbag/README.md

@@ -0,0 +1,17 @@
+# Launching RS ROS2 node from rosbag File
+The following example allows streaming a rosbag file, saved by Intel RealSense Viewer, instead of streaming live with a camera. It can be used for testing and repetition of the same sequence.
+```
+ros2 launch realsense2_camera rs_launch_from_rosbag.py
+```
+By default, the 'rs_launch_from_rosbag.py' launch file uses the "/rosbag/D435i_Depth_and_IMU_Stands_still.bag" rosbag file.
+
+User can also provide a different rosbag file through cmd line as follows:
+```
+ros2 launch realsense2_camera rs_launch_from_rosbag.py rosbag_filename:="/full/path/to/rosbag/file"
+```
+or
+```
+ros2 launch realsense2_camera rs_launch.py rosbag_filename:="/full/path/to/rosbag/file"
+```
+
+Check-out [sample-recordings](https://github.com/IntelRealSense/librealsense/blob/master/doc/sample-data.md) for a few recorded samples.

realsense2_camera/examples/launch_from_rosbag/rs_launch_from_rosbag.py

@@ -37,7 +37,7 @@
                     {'name': 'enable_depth',        'default': 'true', 'description': 'enable depth stream'},
                     {'name': 'enable_gyro',         'default': 'true', 'description': "'enable gyro stream'"},
                     {'name': 'enable_accel',        'default': 'true', 'description': "'enable accel stream'"},
-                    {'name': 'rosbag_filename',     'default': [ThisLaunchFileDir(), "/D435i_Depth_and_IMU_Stands_still.bag"], 'description': 'A realsense bagfile to run from as a device'},
+                    {'name': 'rosbag_filename',     'default': [ThisLaunchFileDir(), "/rosbag/D435i_Depth_and_IMU_Stands_still.bag"], 'description': 'A realsense bagfile to run from as a device'},
                    ]
 
 def set_configurable_parameters(local_params):

realsense2_camera/examples/launch_params_from_file/README.md

@@ -0,0 +1,33 @@
+# Get RS ROS2 node params from YAML file
+The following example gets the RS ROS2 node params from YAML file.
+```
+ros2 launch realsense2_camera rs_launch_get_params_from_yaml.py
+```
+
+By default, 'rs_launch_get_params_from_yaml.py' launch file uses the "/config/config.yaml" YAML file.
+
+User can provide a different YAML file through cmd line as follows:
+```
+ros2 launch realsense2_camera rs_launch_get_params_from_yaml.py config_file:="/full/path/to/config/file"
+```
+or
+```
+ros2 launch realsense2_camera rs_launch.py config_file:="/full/path/to/config/file"
+```
+
+## Syntax for defining params in YAML file
+```
+param1: value
+param2: value
+```
+
+Example:
+```
+enable_color: true
+rgb_camera.profile: 1280x720x15
+enable_depth: true
+align_depth.enable: true
+enable_sync: true
+publish_tf: true
+tf_publish_rate: 1.0
+```

realsense2_camera/examples/launch_params_from_file/config.yaml → realsense2_camera/examples/launch_params_from_file/config/config.yaml

@@ -3,4 +3,5 @@ rgb_camera.profile: 1280x720x15
 enable_depth: true
 align_depth.enable: true
 enable_sync: true
-
+publish_tf: true
+tf_publish_rate: 1.0

realsense2_camera/examples/launch_params_from_file/rs_launch_get_params_from_yaml.py

@@ -34,7 +34,7 @@
 
 local_parameters = [{'name': 'camera_name',         'default': 'camera', 'description': 'camera unique name'},
                     {'name': 'camera_namespace',    'default': 'camera', 'description': 'camera namespace'},
-                    {'name': 'config_file',         'default': [ThisLaunchFileDir(), "/config.yaml"], 'description': 'yaml config file'},
+                    {'name': 'config_file',         'default': [ThisLaunchFileDir(), "/config/config.yaml"], 'description': 'yaml config file'},
                    ]
 
 def set_configurable_parameters(local_params):

realsense2_camera/examples/pointcloud/README.md

@@ -0,0 +1,17 @@
+# PointCloud Visualization
+The following example starts the camera and simultaneously opens RViz GUI to visualize the published pointcloud.
+```
+ros2 launch realsense2_camera rs_pointcloud_launch.py
+```
+
+Alternatively, start the camera terminal 1:
+```
+ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true
+```
+and in terminal 2 open rviz to visualize pointcloud.
+
+# PointCloud with different coordinate systems
+This example opens rviz and shows the camera model with different coordinate systems and the pointcloud, so it presents the pointcloud and the camera together.
+```
+ros2 launch realsense2_camera rs_d455_pointcloud_launch.py
+```

realsense2_camera/examples/pointcloud/rs_d455_pointcloud_launch.py

@@ -77,7 +77,7 @@ def generate_launch_description():
             namespace='',
             executable='rviz2',
             name='rviz2',
-            arguments=['-d', [ThisLaunchFileDir(), '/urdf_pointcloud.rviz']],
+            arguments=['-d', [ThisLaunchFileDir(), '/rviz/urdf_pointcloud.rviz']],
             output='screen',
             parameters=[{'use_sim_time': False}]
         ),

realsense2_camera/examples/pointcloud/rs_pointcloud_launch.py

@@ -57,6 +57,6 @@ def generate_launch_description():
             namespace='',
             executable='rviz2',
             name='rviz2',
-            arguments=['-d', [ThisLaunchFileDir(), '/pointcloud.rviz']]
+            arguments=['-d', [ThisLaunchFileDir(), '/rviz/pointcloud.rviz']]
     )
     ])