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Start IMU in startCamera #175

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merged 4 commits into from
Dec 21, 2016
Merged

Start IMU in startCamera #175

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4e4d5c9
Start IMU in startCamera
Dec 20, 2016
68fe7de
Added try-catch for start and stop device
Dec 21, 2016
360143c
Fixed spacing before comment - roslint failure
Dec 21, 2016
f3618e9
Fixed roslint tabs errors
Dec 21, 2016
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1 change: 1 addition & 0 deletions realsense_camera/include/realsense_camera/base_nodelet.h
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Original file line number Diff line number Diff line change
Expand Up @@ -138,6 +138,7 @@ class BaseNodelet: public nodelet::Nodelet
tf::TransformBroadcaster dynamic_tf_broadcaster_;
rs_extrinsics color2depth_extrinsic_; // color frame is base frame
rs_extrinsics color2ir_extrinsic_; // color frame is base frame
rs_source rs_source_ = RS_SOURCE_VIDEO;

struct CameraOptions
{
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3 changes: 2 additions & 1 deletion realsense_camera/include/realsense_camera/zr300_nodelet.h
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Expand Up @@ -87,7 +87,8 @@ class ZR300Nodelet: public realsense_camera::BaseNodelet
void getCameraExtrinsics();
void publishStaticTransforms();
void publishDynamicTransforms();
void prepareIMU();
void publishIMU();
void setStreams();
void setIMUCallbacks();
void setFrameCallbacks();
std::function<void(rs::frame f)> fisheye_frame_handler_, ir2_frame_handler_;
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22 changes: 18 additions & 4 deletions realsense_camera/src/base_nodelet.cpp
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Expand Up @@ -723,8 +723,15 @@ namespace realsense_camera
ROS_INFO_STREAM(nodelet_name_ << " - Starting camera");
// Set up the callbacks for each stream
setFrameCallbacks();
rs_start_device(rs_device_, &rs_error_);
checkError();
try
{
rs_device_->start(rs_source_);
}
catch (std::runtime_error & e)
{
ROS_ERROR_STREAM(nodelet_name_ << " - Couldn't start camera -- " << e.what());
ros::shutdown();
}
camera_start_ts_ = ros::Time::now();
return "Camera Started Successfully";
}
Expand All @@ -739,8 +746,15 @@ namespace realsense_camera
if (rs_is_device_streaming(rs_device_, 0) == 1)
{
ROS_INFO_STREAM(nodelet_name_ << " - Stopping camera");
rs_stop_device(rs_device_, 0);
checkError();
try
{
rs_device_->stop(rs_source_);
}
catch (std::runtime_error & e)
{
ROS_ERROR_STREAM(nodelet_name_ << " - Couldn't stop camera -- " << e.what());
ros::shutdown();
}
return "Camera Stopped Successfully";
}
return "Camera is already Stopped";
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34 changes: 21 additions & 13 deletions realsense_camera/src/zr300_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ namespace realsense_camera
if (enable_imu_ == true)
{
imu_thread_ =
boost::shared_ptr<boost::thread>(new boost::thread(boost::bind(&ZR300Nodelet::prepareIMU, this)));
boost::shared_ptr<boost::thread>(new boost::thread(boost::bind(&ZR300Nodelet::publishIMU, this)));
}
}

Expand Down Expand Up @@ -510,19 +510,10 @@ namespace realsense_camera
}

/*
* Prepare IMU.
* Publish IMU.
*/
void ZR300Nodelet::prepareIMU()
void ZR300Nodelet::publishIMU()
{
setIMUCallbacks();

ROS_INFO_STREAM(nodelet_name_ << " - Enabling IMU");
rs_enable_motion_tracking_cpp(rs_device_, new rs::motion_callback(motion_handler_),
new rs::timestamp_callback(timestamp_handler_), &rs_error_);
checkError();
ros::Time imu_start_ts = ros::Time::now();
rs_start_source(rs_device_, (rs_source)rs::source::motion_data, &rs_error_);
checkError();
prev_imu_ts_ = -1;
while (ros::ok())
{
Expand All @@ -533,7 +524,7 @@ namespace realsense_camera
if (prev_imu_ts_ != imu_ts_)
{
sensor_msgs::Imu imu_msg = sensor_msgs::Imu();
imu_msg.header.stamp = ros::Time(imu_start_ts) + ros::Duration(imu_ts_ * 0.001);
imu_msg.header.stamp = ros::Time(camera_start_ts_) + ros::Duration(imu_ts_ * 0.001);
imu_msg.header.frame_id = imu_optical_frame_id_;

imu_msg.orientation.x = 0.0;
Expand Down Expand Up @@ -564,6 +555,23 @@ namespace realsense_camera
stopIMU();
}

/*
* Set up IMU -- overrides base class
*/
void ZR300Nodelet::setStreams()
{
// enable camera streams
BaseNodelet::setStreams();

// enable IMU
ROS_INFO_STREAM(nodelet_name_ << " - Enabling IMU");
setIMUCallbacks();
rs_enable_motion_tracking_cpp(rs_device_, new rs::motion_callback(motion_handler_),
new rs::timestamp_callback(timestamp_handler_), &rs_error_);
checkError();
rs_source_ = RS_SOURCE_ALL; // overrides default to enable motion tracking
}

/*
* Set IMU callbacks.
*/
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