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fix readme and nodefactory for ros2 run #2861

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Aug 31, 2023
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fix readme and nodefactory for ros2 run #2861

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5d0695a
fix readme and nodefactory for ros2 run
SamerKhshiboun Aug 29, 2023
30a70e1
Update README.md
SamerKhshiboun Aug 29, 2023
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69 changes: 69 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
* [Installation](#installation)
* [Usage](#usage)
* [Starting the camera node](#start-camera-node)
* [Camera name and namespace](#camera-name-and-namespace)
* [Parameters](#parameters)
* [ROS2-vs-Optical Coordination Systems](#coordination)
* [TF from coordinate A to coordinate B](#tfs)
Expand Down Expand Up @@ -183,6 +184,74 @@

<hr>

<h3 id="camera-name-and-namespace">
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Please remember we will have to notify this change.
To validation to get ready for it, and other internal users as well
What will happen to users that doesn't change there launch file?
Maybe we need a red notice here about this change?
Let's speak and see how we can make a smooth transition as possible.

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I can use these kinds of notifications in the top of the README page
https://github.com/orgs/community/discussions/16925
We can tell validation and internal users about this before we merge this into SC branches.

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Looks like a good option..

Camera Name And Camera Namespace
</h3>

### Usage
User can set the camera name and camera namespace, to distinguish between cameras and platforms, which helps identifying the right nodes and topics to work with.

### Example
- If user have multiple cameras (might be of the same model) and multiple robots then user can choose to launch/run his nodes on this way.
- For the first robot and first camera he will run/launch it with these parameters:
- camera_namespace:
- robot1
- camera_name
- D455_1

- With ros2 launch (via command line or by editing these two parameters in the launch file):

```ros2 launch realsense2_camera rs_launch.py camera_namespace:=robot1 camera_name:=D455_1```

- With ros2 run (using remapping mechanisim [Reference](https://docs.ros.org/en/foxy/How-To-Guides/Node-arguments.html)):

```ros2 run realsense2_camera realsense2_camera_node --ros-args -r __node:=D455_1 -r __ns:=robot1```

- Result
```
> ros2 node list
/robot1/D455_1

> ros2 topic list
/robot1/D455_1/color/camera_info
/robot1/D455_1/color/image_raw
/robot1/D455_1/color/metadata
/robot1/D455_1/depth/camera_info
/robot1/D455_1/depth/image_rect_raw
/robot1/D455_1/depth/metadata
/robot1/D455_1/extrinsics/depth_to_color
/robot1/D455_1/imu

> ros2 service list
/robot1/D455_1/device_info
```

### Default behavior if non of these parameters are given:
- camera_namespace:=camera
- camera_name:=camera

```
> ros2 node list
/camera/camera

> ros2 topic list
/camera/camera/color/camera_info
/camera/camera/color/image_raw
/camera/camera/color/metadata
/camera/camera/depth/camera_info
/camera/camera/depth/image_rect_raw
/camera/camera/depth/metadata
/camera/camera/extrinsics/depth_to_color
/camera/camera/imu

> ros2 service list
/camera/camera/device_info
```


<hr>


<h3 id="parameters">
Parameters
<h3>
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2 changes: 1 addition & 1 deletion realsense2_camera/src/realsense_node_factory.cpp
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Expand Up @@ -31,7 +31,7 @@ using namespace realsense2_camera;
constexpr auto realsense_ros_camera_version = REALSENSE_ROS_EMBEDDED_VERSION_STR;

RealSenseNodeFactory::RealSenseNodeFactory(const rclcpp::NodeOptions & node_options) :
Node("camera", "/", node_options),
Node("camera", "/camera", node_options),
_logger(this->get_logger())
{
init();
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6 changes: 6 additions & 0 deletions realsense2_camera/src/rs_node_setup.cpp
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Expand Up @@ -225,6 +225,8 @@ void BaseRealSenseNode::startPublishers(const std::vector<stream_profile>& profi
if (sensor.rs2::sensor::is<rs2::depth_sensor>())
rectified_image = true;

// adding "~/" to the topic name will add node namespace and node name to the topic
// see "Private Namespace Substitution Character" section on https://design.ros2.org/articles/topic_and_service_names.html
image_raw << "~/" << stream_name << "/image_" << ((rectified_image)?"rect_":"") << "raw";
camera_info << "~/" << stream_name << "/camera_info";

Expand Down Expand Up @@ -316,6 +318,8 @@ void BaseRealSenseNode::startRGBDPublisherIfNeeded()
{
rmw_qos_profile_t qos = _use_intra_process ? qos_string_to_qos(DEFAULT_QOS) : qos_string_to_qos(IMAGE_QOS);

// adding "~/" to the topic name will add node namespace and node name to the topic
// see "Private Namespace Substitution Character" section on https://design.ros2.org/articles/topic_and_service_names.html
_rgbd_publisher = _node.create_publisher<realsense2_camera_msgs::msg::RGBD>("~/rgbd",
rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos));
}
Expand Down Expand Up @@ -403,6 +407,8 @@ void BaseRealSenseNode::updateSensors()

void BaseRealSenseNode::publishServices()
{
// adding "~/" to the service name will add node namespace and node name to the service
// see "Private Namespace Substitution Character" section on https://design.ros2.org/articles/topic_and_service_names.html
_device_info_srv = _node.create_service<realsense2_camera_msgs::srv::DeviceInfo>(
"~/device_info",
[&](const realsense2_camera_msgs::srv::DeviceInfo::Request::SharedPtr req,
Expand Down