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Use new APIs for motion, accel and gryo streams #3225

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merged 1 commit into from
Oct 10, 2024
Merged

Use new APIs for motion, accel and gryo streams #3225

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2 changes: 1 addition & 1 deletion realsense2_camera/include/ros_utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ namespace realsense2_camera
const stream_index_pair INFRA2{RS2_STREAM_INFRARED, 2};
const stream_index_pair GYRO{RS2_STREAM_GYRO, 0};
const stream_index_pair ACCEL{RS2_STREAM_ACCEL, 0};
const stream_index_pair IMU{RS2_STREAM_MOTION, 0};
const stream_index_pair MOTION{RS2_STREAM_MOTION, 0};

bool isValidCharInName(char c);

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65 changes: 29 additions & 36 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -490,9 +490,9 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame)
{
stream_index = ACCEL;
}
else if(stream == IMU.first)
else if(stream == MOTION.first)
{
stream_index = IMU;
stream_index = MOTION;
}
else
{
Expand All @@ -514,47 +514,40 @@ void BaseRealSenseNode::imu_callback(rs2::frame frame)
ImuMessage_AddDefaultValues(imu_msg);
imu_msg.header.frame_id = OPTICAL_FRAME_ID(stream_index);

const float3 *crnt_reading = reinterpret_cast<const float3 *>(frame.get_data());
size_t data_size = frame.get_data_size();

if (IMU == stream_index)
if (MOTION == stream_index)
{
// Expecting two float3 objects: first for accel, second for gyro
// Check if we have at least two float3s
if (data_size >= 2 * sizeof(float3))
{
const float3 &accel_data = crnt_reading[0];
const float3 &gyro_data = crnt_reading[1];
auto combined_motion_data = frame.as<rs2::motion_frame>().get_combined_motion_data();

imu_msg.linear_acceleration.x = combined_motion_data.linear_acceleration.x;
imu_msg.linear_acceleration.y = combined_motion_data.linear_acceleration.y;
imu_msg.linear_acceleration.z = combined_motion_data.linear_acceleration.z;

imu_msg.angular_velocity.x = combined_motion_data.angular_velocity.x;
imu_msg.angular_velocity.y = combined_motion_data.angular_velocity.y;
imu_msg.angular_velocity.z = combined_motion_data.angular_velocity.z;

// Fill the IMU ROS2 message with both accel and gyro data
imu_msg.linear_acceleration.x = accel_data.x;
imu_msg.linear_acceleration.y = accel_data.y;
imu_msg.linear_acceleration.z = accel_data.z;
imu_msg.orientation.x = combined_motion_data.orientation.x;
imu_msg.orientation.y = combined_motion_data.orientation.y;
imu_msg.orientation.z = combined_motion_data.orientation.z;
imu_msg.orientation.w = combined_motion_data.orientation.w;

imu_msg.angular_velocity.x = gyro_data.x;
imu_msg.angular_velocity.y = gyro_data.y;
imu_msg.angular_velocity.z = gyro_data.z;
}
else
{
auto motion_data = frame.as<rs2::motion_frame>().get_motion_data();
if (GYRO == stream_index)
{
imu_msg.angular_velocity.x = motion_data.x;
imu_msg.angular_velocity.y = motion_data.y;
imu_msg.angular_velocity.z = motion_data.z;
}
else
else // ACCEL == stream_index
{
ROS_ERROR_STREAM("Insufficient data for IMU (Motion) frame: expected at least "
<< 2 * sizeof(float3) << " bytes, but got "
<< data_size << " bytes.");
return;
imu_msg.linear_acceleration.x = motion_data.x;
imu_msg.linear_acceleration.y = motion_data.y;
imu_msg.linear_acceleration.z = motion_data.z;
}
}
else if (GYRO == stream_index)
{
imu_msg.angular_velocity.x = crnt_reading->x;
imu_msg.angular_velocity.y = crnt_reading->y;
imu_msg.angular_velocity.z = crnt_reading->z;
}
else // ACCEL == stream_index
{
imu_msg.linear_acceleration.x = crnt_reading->x;
imu_msg.linear_acceleration.y = crnt_reading->y;
imu_msg.linear_acceleration.z = crnt_reading->z;
}

imu_msg.header.stamp = t;
_imu_publishers[stream_index]->publish(imu_msg);
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