Merge pull request IntelRealSense#28 from otcshare/RAR-256-ROS-params…

…-plus-others Rar 256 ros params plus others
furushchev · Mar 17, 2016 · e26d85e · e26d85e
2 parents cb98974 + 275b69a
commit e26d85e
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diff --git a/camera/README.md b/camera/README.md
@@ -72,33 +72,32 @@ Infrared2 camera
 
 #### Static Parameters
 
-    mode (string, default: preset)
-        Specify the mode to start camera streams. Mode comprises of height, width and fps. 
-        Preset mode enables default values whereas Manual mode enables the specified parameter values.
-    color_height (int, default: 480)
-        Specify the color camera height resolution.
-    color_width (int, default: 640)
-        Specify the color camera width resolution.
-    depth_height (int, default: 360)
-        Specify the depth camera height resolution.
-    depth_width (int, default: 480)
-        Specify the depth camera width resolution.
-    depth_fps (int, default: 60)
-        Specify the color camera FPS
-    depth_fps (int, default: 60)
-        Specify the depth camera FPS
-    enable_depth (bool, default: true) 
-        Specify if to enable or not the depth and infrared camera.
-    enable_color (bool, default: true) 
-        Specify if to enable or not the color camera.
-    enable_pointcloud (bool, default: true) 
-        Specify if to enable or not the point cloud camera.
-    enable_tf (bool, default: true) 
-        Specify if to enable or not the transform frames.       
-    camera (string, default: "R200") 
-        Specify the camera name. 
-    Supported options: Following are the options supported by the R200 camera:
-        R200_DEPTH_CONTROL_PRESET : [0, 5]
+    Stream parameters:
+	    mode (string, default: preset)
+	        Specify the mode to start camera streams. Mode comprises of height, width and fps. 
+	        Preset mode enables default values whereas Manual mode enables the specified parameter values.
+	    color_height (int, default: 480)
+	        Specify the color camera height resolution.
+	    color_width (int, default: 640)
+	        Specify the color camera width resolution.
+	    depth_height (int, default: 360)
+	        Specify the depth camera height resolution.
+	    depth_width (int, default: 480)
+	        Specify the depth camera width resolution.
+	    depth_fps (int, default: 60)
+	        Specify the color camera FPS
+	    depth_fps (int, default: 60)
+	        Specify the depth camera FPS
+	    enable_color (bool, default: true) 
+	        Specify if to enable or not the color camera.
+	    enable_pointcloud (bool, default: true) 
+	        Specify if to enable or not the point cloud camera.
+	    enable_tf (bool, default: true) 
+	        Specify if to enable or not the transform frames.       
+	    camera (string, default: "R200") 
+	        Specify the camera name. 
+    Camera parameters: 
+    Following are the parameters that can be set only statically in the R200 camera:
         R200_DEPTH_UNITS : [1, 2147483647]
         R200_DEPTH_CLAMP_MIN : [0, 65535]
         R200_DEPTH_CLAMP_MAX : [0, 65535]
@@ -119,8 +118,14 @@ Infrared2 camera
 To get supported camera options with current value set. It returns string in options:value format where different options are seperated by semicolon.
 
 ####Dynamic Parameters
-   List of dynamically configurable camera options:
 
+    Stream parameters:
+        enable_depth (bool, default: true) 
+          Specify if to enable or not the depth and infrared camera.
+          Note: Infrared streams will be enabled or disabled along with depth stream.
+
+    Camera parameters: 
+    Following are the parameters that can be set dynamically as well as statically in the R200 camera.
         COLOR_BACKLIGHT_COMPENSATION
         COLOR_BRIGHTNESS
         COLOR_CONTRAST
@@ -129,41 +134,31 @@ To get supported camera options with current value set. It returns string in opt
         COLOR_HUE
         COLOR_SATURATION
         COLOR_SHARPNESS
-        COLOR_WHITE_BALANCE
         COLOR_ENABLE_AUTO_WHITE_BALANCE
-        R200_LR_AUTO_EXPOSURE_ENABLED
+        COLOR_WHITE_BALANCE            (Must be set only if COLOR_ENABLE_AUTO_WHITE_BALANCE is disabled)
         R200_LR_GAIN
-        R200_LR_EXPOSURE
         R200_EMITTER_ENABLED
-        R200_DISPARITY_MULTIPLIER
-        R200_AUTO_EXPOSURE_TOP_EDGE
-        R200_AUTO_EXPOSURE_BOTTOM_EDGE
-        R200_AUTO_EXPOSURE_LEFT_EDGE
-        R200_AUTO_EXPOSURE_RIGHT_EDGE
+        R200_LR_EXPOSURE               (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is disabled)        
+    Following are the parameters that can only be set dynamically in the R200 camera.        
+        R200_LR_AUTO_EXPOSURE_ENABLED
+        R200_AUTO_EXPOSURE_TOP_EDGE    (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled)
+        R200_AUTO_EXPOSURE_BOTTOM_EDGE (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled)
+        R200_AUTO_EXPOSURE_LEFT_EDGE   (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled)
+        R200_AUTO_EXPOSURE_RIGHT_EDGE  (Must be set only if R200_LR_AUTO_EXPOSURE_ENABLED is enabled)
 
-    Enable/Disable Stream:
-        ENABLE_DEPTH
-            Check or uncheck the option to disable/enable depth and infrared streams dynamically. 
-            Note: Infrared streams will be enabled or disabled along with depth stream.
+Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image.	
+E.g. For 320x240 infrared image, valid values are within 0-319 and 0-239)
 
 Use rqt_reconfigure GUI to view and edit the parameters that are accessible via dynamic_reconfigure.
-
 Command to launch GUI:
 
     $ rosrun rqt_reconfigure rqt_reconfigure
 
-Change options commandline using following command:
+Command to change dynamic parameters using commandline:
 
     $ rosrun dynamic_reconfigure dynparam set /<node> <parameter_name> <value>
     E.g. $ rosrun dynamic_reconfigure dynparam set /RealsenseNodelet COLOR_BACKLIGHT_COMPENSATION 2
 
-Note: For Autoexposure EDGE parameters, max value will go only upto the bounds of the infrared image.	
-E.g. For 320x240 infrared image, valid values are within 0-319 and 0-239)
-
-To change EDGE parameters, R200_LR_AUTO_EXPOSURE_ENABLED should be enabled.			
-To set R200_LR_EXPOSURE, R200_LR_AUTO_EXPOSURE_ENABLED should be disabled.	
-To set COLOR_WHITE_BALANCE, COLOR_ENABLE_AUTO_WHITE_BALANCE should be disabled.	
-
 
 ###Running the R200 nodelet
 

diff --git a/camera/cfg/camera_params.cfg b/camera/cfg/camera_params.cfg
@@ -7,7 +7,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 #             Name                               Type      Level 	Description                     Default    Min     Max
-gen.add("ENABLE_DEPTH",                          bool_t,   0,          "Enable Depth",                 True)
+gen.add("enable_depth",                          bool_t,   0,          "Enable Depth",                 True)
 gen.add("COLOR_BACKLIGHT_COMPENSATION",          int_t,    0,          "Backlight Compensation",       1,         0,      4)
 gen.add("COLOR_BRIGHTNESS",                      int_t,    0,          "Brightness",                   56,        0,      255)
 gen.add("COLOR_CONTRAST",                        int_t,    0,          "Contrast",                     32,        16,     64)

diff --git a/camera/launch/includes/realsense_r200_nodelet.launch.xml b/camera/launch/includes/realsense_r200_nodelet.launch.xml
@@ -4,37 +4,34 @@
 
     <arg name="depth_frame_id"      default="camera_depth_optical_frame" />
     <arg name="rgb_frame_id"        default="camera_rgb_optical_frame" />
-    <arg name="publish_tf"          default="false" />
+    <arg name="publish_tf"          default="true" />
     <arg name="depth"               default="depth" />
     <arg name="rgb"                 default="rgb" />
     <arg name="ir"                  default="ir" />
     <arg name="ir2"                 default="ir2" />
+    <arg name="mode"                default="preset" />
     <arg name="enable_depth"        default="true" />
     <arg name="enable_color"        default="true" />
     <arg name="enable_ir"           default="true" />
 
     <!-- "enable_depth_ir" will take the value of "enable_ir" only if "enable_ir" is true.
          Else "enable_depth_ir" will take the value of "enable_depth" -->
     <arg name="enable_depth_ir"     value="$(arg enable_ir)"    if="$(arg enable_ir)" />
-    <arg name="enable_depth_ir"     value="$(arg enable_depth)" unless="$(arg enable_ir)" />
-
-    <!-- "enable_tf" will be set to false only if "publish_tf" is true. Else it is set to true.
-         Ensures that the nodelet does not publish tf if the transforms are published statically. -->
-    <arg name="enable_tf"           value="false"    if="$(arg publish_tf)" />
-    <arg name="enable_tf"           value="true"     unless="$(arg publish_tf)" />    
+    <arg name="enable_depth_ir"     value="$(arg enable_depth)" unless="$(arg enable_ir)" />  
 
      <!-- "enable_pointcloud" is set to false by default because rgbd launch uses standard ROS packages
           to generate point clouds. -->          
     <arg name="enable_pointcloud"   default="false" />
 
     <node pkg="nodelet" type="nodelet" name="camera_nodelet"
-        args="load realsense_camera/RealsenseNodelet $(arg manager)
-        depth_frame_id $(arg depth_frame_id)
-        rgb_frame_id $(arg rgb_frame_id)
-        enable_depth $(arg enable_depth_ir)
-        enable_color $(arg enable_color)
-        enable_pointcloud $(arg enable_pointcloud)
-        enable_tf $(arg enable_tf)">
+        args="load realsense_camera/RealsenseNodelet $(arg manager)">
+        <param name="mode"              type="str"  value="$(arg mode)" />
+        <param name="enable_depth"      type="bool" value="$(arg enable_depth_ir)" />
+        <param name="enable_color"      type="bool" value="$(arg enable_color)" />
+        <param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)" />
+        <param name="enable_tf"         type="bool" value="$(arg publish_tf)" />
+        <param name="depth_frame_id"    type="str"  value="$(arg depth_frame_id)" />
+        <param name="rgb_frame_id"      type="str"  value="$(arg rgb_frame_id)" />
 
         <remap from="camera/depth/image_raw"        to="$(arg depth)/image_raw" />
         <remap from="camera/color/image_raw"        to="$(arg rgb)/image_raw" />

diff --git a/camera/launch/realsense_r200_navigation.launch b/camera/launch/realsense_r200_navigation.launch
@@ -8,13 +8,13 @@
 
   	<node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
 
-	<node pkg="nodelet" type="nodelet" name="RealsenseNodelet"
-        args="load realsense_camera/RealsenseNodelet standalone_nodelet 
-        mode $(arg mode)
-        enable_depth $(arg enable_depth)
-        enable_color $(arg enable_color)
-        enable_pointcloud $(arg enable_pointcloud)
-        enable_tf $(arg enable_tf)">        
-  	</node>
-  
+    <node pkg="nodelet" type="nodelet" name="RealsenseNodelet"
+        args="load realsense_camera/RealsenseNodelet standalone_nodelet" >
+        <param name="mode"              type="str"  value="$(arg mode)" />
+        <param name="enable_depth"      type="bool" value="$(arg enable_depth)" />
+        <param name="enable_color"      type="bool" value="$(arg enable_color)" />
+        <param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)" />
+        <param name="enable_tf"         type="bool" value="$(arg enable_tf)" />
+    </node>
+
 </launch> 
diff --git a/camera/launch/realsense_r200_nodelet_standalone_manual.launch b/camera/launch/realsense_r200_nodelet_standalone_manual.launch
@@ -14,18 +14,19 @@
 
   	<node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
 
-	<node pkg="nodelet" type="nodelet" name="RealsenseNodelet"
-        args="load realsense_camera/RealsenseNodelet standalone_nodelet 
-        mode $(arg mode)
-        color_height $(arg color_height) 
-        color_width $(arg color_width)
-        depth_height $(arg depth_height)
-        depth_width $(arg depth_width)
-        enable_color $(arg enable_color)
-        enable_depth $(arg enable_depth)
-        depth_fps $(arg depth_fps)
-        color_fps $(arg color_fps)
-        enable_pointcloud $(arg enable_pointcloud)">        
-  	</node>
-
+    <node pkg="nodelet" type="nodelet" name="RealsenseNodelet"
+        args="load realsense_camera/RealsenseNodelet standalone_nodelet">
+        <param name="mode"              type="str"  value="$(arg mode)" />
+        <param name="enable_depth"      type="bool" value="$(arg enable_depth)" />
+        <param name="enable_color"      type="bool" value="$(arg enable_color)" />
+        <param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)" />
+        <param name="enable_tf"         type="bool" value="$(arg enable_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)" />
+    </node>
+
 </launch> 
diff --git a/camera/launch/realsense_r200_nodelet_standalone_preset.launch b/camera/launch/realsense_r200_nodelet_standalone_preset.launch
@@ -8,13 +8,13 @@
 
   	<node pkg="nodelet" type="nodelet" name="standalone_nodelet"  args="manager" output="screen"/>
 
-	<node pkg="nodelet" type="nodelet" name="RealsenseNodelet"
-        args="load realsense_camera/RealsenseNodelet standalone_nodelet 
-        mode $(arg mode)
-        enable_depth $(arg enable_depth)
-        enable_color $(arg enable_color)
-        enable_pointcloud $(arg enable_pointcloud)
-        enable_tf $(arg enable_tf)">        
-  	</node>
-  
+    <node pkg="nodelet" type="nodelet" name="RealsenseNodelet"
+        args="load realsense_camera/RealsenseNodelet standalone_nodelet">
+        <param name="mode"              type="str"  value="$(arg mode)" />
+        <param name="enable_depth"      type="bool" value="$(arg enable_depth)" />
+        <param name="enable_color"      type="bool" value="$(arg enable_color)" />
+        <param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)" />
+        <param name="enable_tf"         type="bool" value="$(arg enable_tf)" />
+    </node>
+
 </launch> 
diff --git a/camera/launch/realsense_r200_rgbd.launch b/camera/launch/realsense_r200_rgbd.launch
@@ -17,11 +17,9 @@
   <arg name="depth_registered" default="depth_registered" />
   <arg name="projector"        default="projector" />
 
-  <!-- Optionally suppress loading the driver nodelet and/or publishing the default tf
-       tree. Useful if you are playing back recorded raw data from a bag, or are
-       supplying a more accurate tf tree from calibration. -->
+  <!-- Optionally suppress loading the driver nodelet. Useful while playing back recorded raw data from a bag.-->
   <arg name="load_driver" default="true" />
-  <arg name="publish_tf" default="false" />
+  <arg name="publish_tf" default="true" />
   <!-- Processing Modules -->
   <arg name="rgb_processing"                  default="true"/>
   <arg name="ir_processing"                   default="true"/>