Merge pull request #34 from mdhorn/release-1.0.4

Release 1.0.4
IntelRealSense · Apr 27, 2016 · 3ce3582 · 3ce3582
2 parents 877998b + e8b9399
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diff --git a/.github/CONTRIBUTING.md b/.github/CONTRIBUTING.md
@@ -0,0 +1,75 @@
+# Contributing to ROS RealSense&trade; Project
+
+Third-party patches and contributions are welcome. We do require
+you read and agree to the Contribution License Agreement below.
+
+## Contribution License Agreement
+
+The Intel&reg; RealSense&trade; ROS Project is developed and distributed under
+a BSD license as noted in [camera/licenses/License.txt](../camera/licenses/License.txt).
+
+By making a contribution to this project, I certify that:
+
+(a) The contribution was created in whole or in part by me and I
+have the right to submit it under the open source license
+indicated in the file; or
+
+(b) The contribution is based upon previous work that, to the best
+of my knowledge, is covered under an appropriate open source
+license and I have the right under that license to submit that
+work with modifications, whether created in whole or in part
+by me, under the same open source license (unless I am
+permitted to submit under a different license), as indicated
+in the file; or
+
+(c) The contribution was provided directly to me by some other
+person who certified (a), (b) or (c) and I have not modified
+it.
+
+(d) I understand and agree that this project and the contribution
+are public and that a record of the contribution (including all
+personal information I submit with it, including my sign-off) is
+maintained indefinitely and may be redistributed consistent with
+this project or the open source license(s) involved.
+
+# Contribution Prerequisites
+
+* Create a [GitHub account](https://github.com/join) if you do not already have one.
+* Search the existing [GitHub Issues](../../../issues)
+to see if your contribution is already documented.
+  * Submit a [new GitHub Issue](../../../issues/new) if one does not exist.
+    * Complete the provided template with your system configuration.
+    * For Bug fixes, include directions on how to reproduce the problem.
+    * For new functionality or features, please describe in detail the requirements.
+* [Create a Fork](../../../fork) of the repository on GitHub for your contribution.
+
+# Submitting Changes
+
+* Create a Topic branch for your work.
+  * Base the topic branch on the ROS development branch `<ros release>-devel`.
+* Ensure changes follow the [ROS coding Style Guide](http://wiki.ros.org/StyleGuide)
+* Each commit needs to be functional/compile by itself.
+* Follow [Git Commit Guidelines](https://git-scm.com/book/ch5-2.html#Commit-Guidelines)
+regarding commit formatting.
+  * Check for unnecessary whitespace with `git diff --check` before committing.
+* Rebase commits to squash where appropriate.
+* Verify the Test cases found in the package 'test' directory are passing.
+  * Changes with new functionality should include new test cases.
+* Submit a [Pull Request](../../../compare) to the repository.
+  * Ensure that it is flagged as "Able to merge", if not you may need to rebase your Fork.
+  * List the Issues fixed by the Pull Request.
+
+### Monitor Your Pull Request
+
+* The maintainers attempt to review all Pull Requests in a timely manner; worse case
+is once per week.
+* If maintainers request changes or additional information for your Pull Request, the
+expectation is the submitter replies within two weeks.
+* Pull Requests may be closed without being merged if there is no submitter response after 3+ weeks.
+
+# Contribution Resources
+
+* [Create a GitHub account](https://github.com/join)
+* [GitHub Pull Request documentation](https://help.github.com/articles/using-pull-requests)
+* [ROS coding Style Guide](http://wiki.ros.org/StyleGuide)
+* [Git Commit Guidelines](https://git-scm.com/book/ch5-2.html#Commit-Guidelines)
diff --git a/.github/ISSUE_TEMPLATE.md b/.github/ISSUE_TEMPLATE.md
@@ -5,7 +5,9 @@ Please complete Your Configuration detail below.
 |:---------------- |:---------------------|:---------------------|
 | Operating System | Ubuntu 14.04.4 LTS   | ? ? ?                |
 | Kernel           | 4.4.0-040400-generic | ?-?-?                |
+| Backend          | video4linux          | ?                    |
 | ROS              | indigo               | ?                    |
+| ROS RealSense    | Latest Release       | ?.?.?                |
 | librealsense     | 0.9.1                | ?.?.?                |
 | R200 Firmware    | 1.0.72.06            | ?.?.?.?              |
 
@@ -17,7 +19,9 @@ Please complete Your Configuration detail below.
 |:---------------- |:------------ |
 | Operating System | `grep DISTRIB_DESCRIPTION /etc/*elease*` |
 | Kernel           | `uname -r` |
+| Backend          | `ls /sys/class | grep video4linux` |
 | ROS              | `rosversion -d` |
+| ROS RealSense    | `rosversion realsense_camera` |
 | librealsense     | `cat <path to librealsense>/librealsense/readme.md | grep release-image | awk -F- '{print $3}'` |
 | R200 Firmware    | View the ROS log from running nodelet **OR** `<path to librealsense>/librealsense/bin/cpp-enumerate-devices | grep -i firmware` |
 

diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -1,3 +1,5 @@
+**Please ensure the above *guidelines for contributing* are met.**
+
 Fixes Issue: #
 
 Changes proposed in this pull request:

diff --git a/README.md b/README.md
@@ -5,5 +5,33 @@ www.intel.com/realsense
 
 www.ros.org  
 
-
 Refer to the README.md file within each package for more details.
+
+# Contributing to the Project
+
+The Intel&reg; RealSense&trade; ROS Project is developed and distributed under
+a BSD license as noted in [camera/licenses/License.txt](camera/licenses/License.txt).
+
+By making a contribution to this project, I certify that:
+
+(a) The contribution was created in whole or in part by me and I
+have the right to submit it under the open source license
+indicated in the file; or
+
+(b) The contribution is based upon previous work that, to the best
+of my knowledge, is covered under an appropriate open source
+license and I have the right under that license to submit that
+work with modifications, whether created in whole or in part
+by me, under the same open source license (unless I am
+permitted to submit under a different license), as indicated
+in the file; or
+
+(c) The contribution was provided directly to me by some other
+person who certified (a), (b) or (c) and I have not modified
+it.
+
+(d) I understand and agree that this project and the contribution
+are public and that a record of the contribution (including all
+personal information I submit with it, including my sign-off) is
+maintained indefinitely and may be redistributed consistent with
+this project or the open source license(s) involved.
diff --git a/camera/CHANGELOG.rst b/camera/CHANGELOG.rst
@@ -2,48 +2,34 @@
 Changelog for package realsense_camera
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.4 (2016-04-25)
+------------------
+* Updated RGBD Launch File for Manual Mode (#25)
+* Updated Documentation with Backend and ROS RealSense details (#16)
+* Modified variable names to match ROS standards
+* Contributors: Mark D Horn, Reagan Lopez
+
 1.0.3 (2016-04-11)
 ------------------
-* Updated code to enable multi-camera functionality
-  Added code to generate frame_id's based on user entered values.
-  Updated rgbd_launch files to reflect the changes.
-  Updated README to reflect the changes.
-  This fixes Issue #7.
+* Updated code to enable multi-camera functionality (#7)
 * Updated README and Issue Template with BKC
 * Contributors: Reagan Lopez
 
 1.0.2 (2016-03-28)
 ------------------
-* Added functionality to access camera using Serial No:
-  This fixes Issue #18.
-  Added code to handle various use cases for input serial number such as
-  --Exit with error if no serial number is specified and multiple cameras are detected.
-  --Exit with error if no camera is detected that matches the input serial number.
-  --Prints all the detected cameras.
-  Updated launch files with a placeholder for serial number.
-  Updated rgbd_launch test code to remove hardcoded topic names.
-* Modified all parameters to lowercase for consistency
-  This fixes Issue #13.
+* Added functionality to access camera using Serial No (#18)
+* Modified all parameters to lowercase for consistency (#13)
 * Removed support for R200_DISPARITY_MULTIPLIER camera option
-* Added missing install targets
-  This fixes Pull Request #2.
-  This fixes Issue #17.
+* Added missing install targets (#2 #17)
 * Contributors: Reagan Lopez, Rajvi Jingar
 
 1.0.1 (2016-03-17)
 ------------------
-* Convert command line args to ROS params
-  This also fixes Issue #9 for publish_tf and enable_tf
-  Updated README to indicate changes in R200_DISPARITY_MULTIPLIER.
+* Convert command line args to ROS params (#9)
 * New Feature to dynamically enable/disable depth stream
-  Note: Enable/disable of depth stream also enables/disables infrared streams.
 * Update camera_info msgs
-  Add identity matrix for rotation
-  Add depth to color translation to projection matrix
 * Add rgbd_launch as run dependency.
 * Add missing Change Log history file
-  This is a required file as part of the ROS (bloom) release process
-  which was missed from our initial release.
 * Contributors: Mark D Horn, Matthew Hansen, Reagan Lopez, Rajvi Jingar
 
 1.0.0 (2016-02-29)

diff --git a/camera/README.md b/camera/README.md
@@ -4,6 +4,7 @@
 |:---------------- |:---------------------|
 | Operating System | Ubuntu 14.04.4 LTS   |
 | Kernel           | 4.4.0-040400-generic |
+| Backend          | video4linux          |
 | ROS              | indigo               |
 | librealsense     | 0.9.1                |
 | R200 Firmware    | 1.0.72.06            |
@@ -267,12 +268,17 @@ Refer to the function definitions in [realsense_camera_nodelet.h](src/realsense_
     * Depth stream:    Y16
     * Infrared stream: Y8
 
+* Generating a Depth Registered Point Cloud is very memory intensive.
+The topic /camera/depth_registered/points, generated by launch file
+"realsense_r200_rgbd.launch", works best at 30 fps using 640x480 resolution
+on a system with 16GB of RAM.
+
 * The camera does not provide hardware based depth registration/projector data. 
 Hence the launch file "realsense_r200_rgbd.launch" will not generate data for the following topics:  
     * /camera/depth_registered/hw_registered/image_rect_raw  
-    * /camera/depth_registered/points  
     * /camera/depth_registered/hw_registered/image_rect  
     * /camera/depth_registered/image  
     * /camera/depth/disparity  
     * /camera/depth_registered/disparity  
+
 * The performance benchmark for multiple cameras launched at the same time has not been defined yet.  
diff --git a/camera/launch/includes/realsense_r200_nodelet.launch.xml b/camera/launch/includes/realsense_r200_nodelet.launch.xml
@@ -15,6 +15,12 @@
 <!-- RealSense -->
     <arg name="serial_no"           default="" />
     <arg name="mode"                default="" />
+    <arg name="color_width"         default="" />
+    <arg name="color_height"        default="" />
+    <arg name="depth_width"         default="" />
+    <arg name="depth_height"        default="" />
+    <arg name="depth_fps"           default="" />
+    <arg name="color_fps"           default="" />
     <arg name="ir2"                 default="ir2" />
 
     <!-- "enable_depth_ir" will take the value of "enable_ir" only if "enable_ir" is true.
@@ -35,6 +41,12 @@
         <param name="enable_color"      type="bool" value="$(arg rgb_processing)" />
         <param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)" />
         <param name="enable_tf"         type="bool" value="$(arg publish_tf)" />
+        <param name="depth_width"       type="int"  value="$(arg depth_width)" />
+        <param name="depth_height"      type="int"  value="$(arg depth_height)" />
+        <param name="color_width"       type="int"  value="$(arg color_width)" />
+        <param name="color_height"      type="int"  value="$(arg color_height)" />
+        <param name="depth_fps"         type="int"  value="$(arg depth_fps)" />
+        <param name="color_fps"         type="int"  value="$(arg color_fps)" />
         <param name="base_frame_id"     type="str"  value="$(arg camera)_link" />
         <param name="depth_frame_id"    type="str"  value="$(arg camera)_$(arg depth)_frame" />
         <param name="color_frame_id"    type="str"  value="$(arg camera)_$(arg rgb)_frame" /> 

diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch
@@ -8,13 +8,22 @@
   <!-- "serial_no" should be the unique identifier to connect to a device. -->
   <arg name="serial_no"       default="" />
 
+  <!-- Set depth to match the default rectify size. -->
+  <arg name="mode"            default="manual" />
+  <arg name="color_width"     default="640" />
+  <arg name="color_height"    default="480" />
+  <arg name="depth_width"     default="480" />
+  <arg name="depth_height"    default="360" />
+  <arg name="depth_fps"       default="30" />
+  <arg name="color_fps"       default="30" />
+
   <!-- Use OpenNI's factory-calibrated depth->RGB registration? -->
   <arg name="depth_registration" default="false" />
 
   <!-- Arguments for remapping all device namespaces -->
   <arg name="depth"            default="depth" />
-  <arg name="rgb"              default="rgb" />  
-  <arg name="ir"               default="ir" />  
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
   <arg name="depth_registered" default="depth_registered" />
   <arg name="projector"        default="projector" />
 
@@ -28,19 +37,20 @@
   <arg name="depth_registered_processing"     default="true"/>
   <arg name="disparity_processing"            default="true"/>
   <arg name="disparity_registered_processing" default="true"/>
-  <arg name="hw_registered_processing"        default="true" />
+  <arg name="hw_registered_processing"        default="false" />
   <arg name="sw_registered_processing"        default="true" />
 
   <!-- Disable respawn topics by default -->
   <arg name="respawn" default="false" />
 
   <!-- Worker threads for the nodelet manager -->
   <arg name="num_worker_threads" default="4" />
- 
+
   <!-- Push down all topics/nodelets into "camera" namespace -->
   <group ns="$(arg camera)">
 
     <!-- Start nodelet manager in provided namespace -->
+
     <arg name="manager" value="$(arg camera)_nodelet_manager" />
     <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
     <include file="$(find rgbd_launch)/launch/includes/manager.launch.xml">
@@ -57,11 +67,18 @@
       <arg name="manager"                   value="$(arg manager)" />
       <arg name="publish_tf"                value="$(arg publish_tf)" />
       <arg name="depth"                     value="$(arg depth)" />
-      <arg name="rgb"                       value="$(arg rgb)" /> 
+      <arg name="rgb"                       value="$(arg rgb)" />
       <arg name="ir"                        value="$(arg ir)" />
       <arg name="depth_processing"          value="$(arg depth_processing)" />
       <arg name="rgb_processing"            value="$(arg rgb_processing)" />
       <arg name="ir_processing"             value="$(arg ir_processing)" />
+      <arg name="mode"                      value="$(arg mode)" />
+      <arg name="color_width"               value="$(arg color_width)" />
+      <arg name="color_height"              value="$(arg color_height)" />
+      <arg name="depth_width"               value="$(arg depth_width)" />
+      <arg name="depth_height"              value="$(arg depth_height)" />
+      <arg name="depth_fps"                 value="$(arg depth_fps)" />
+      <arg name="color_fps"                 value="$(arg color_fps)" />
 
     </include>
 

diff --git a/camera/package.xml b/camera/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>realsense_camera</name>
-  <version>1.0.3</version>
+  <version>1.0.4</version>
   <description>RealSense Camera package allowing access to Intel 3D cameras and advanced modules</description>
 
   <maintainer email="[email protected]">Rajvi Jingar</maintainer>

diff --git a/camera/src/realsense_camera_nodelet.cpp b/camera/src/realsense_camera_nodelet.cpp
@@ -443,7 +443,7 @@ namespace realsense_camera
   {
     for (int i = 0; i < RS_OPTION_COUNT; ++i)
     {
-      option_str o = { (rs_option) i };
+      CameraOptions o = { (rs_option) i };
 
       if (rs_device_supports_option(rs_device_, o.opt, &rs_error_))
       {
@@ -452,7 +452,7 @@ namespace realsense_camera
         if (o.min != o.max)
         {
           o.value = rs_get_device_option(rs_device_, o.opt, 0);
-          options.push_back(o);
+          camera_options_.push_back(o);
         }
       }
     }
@@ -552,7 +552,7 @@ namespace realsense_camera
     std::string get_options_result_str;
     std::string opt_name, opt_value;
 
-    for (option_str o: options)
+    for (CameraOptions o: camera_options_)
     {
       opt_name = rs_option_to_string(o.opt);
       std::transform(opt_name.begin(), opt_name.end(), opt_name.begin(), ::tolower);
@@ -603,7 +603,7 @@ namespace realsense_camera
     std::vector<camera_paramsConfig::AbstractParamDescriptionConstPtr> param_desc = params_config.__getParamDescriptions__();
 
     // Iterate through the supported camera options
-    for (option_str o: options)
+    for (CameraOptions o: camera_options_)
     {
       std::string opt_name = rs_option_to_string(o.opt);
       bool found = false;

diff --git a/camera/src/realsense_camera_nodelet.h b/camera/src/realsense_camera_nodelet.h
@@ -165,12 +165,12 @@ class RealsenseNodelet: public nodelet::Nodelet
   std::map<std::string, std::string> config_;
   int stream_step_[STREAM_COUNT];
 
-  struct option_str
+  struct CameraOptions
   {
     rs_option opt;
     double min, max, step, value;
   };
-  std::vector<option_str> options;
+  std::vector<CameraOptions> camera_options_;
   boost::shared_ptr<dynamic_reconfigure::Server<realsense_camera::camera_paramsConfig>> dynamic_reconf_server_;
 
   // Member Functions.