Merge pull request #55 from 130s/merge/openni2_launch

Move openni2_launch package into this repository

.travis.yml

@@ -2,27 +2,42 @@
 # For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
 sudo: required 
 dist: trusty 
+services:
+  - docker
 language: generic 
 compiler:
   - gcc
 notifications:
   email:
     on_success: always
     on_failure: always
-#    recipients:
-#      - jane@doe
+    recipients:
+      - [email protected]
 env:
   matrix:
-    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
-    - USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="indigo" PRERELEASE=true
+    - ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="jade"   PRERELEASE=true
+    - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="kinetic"   PRERELEASE=true
+    - ROS_DISTRO="lunar"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - ROS_DISTRO="lunar"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - ROS_DISTRO="lunar"   PRERELEASE=true
 matrix:
   allow_failures:
-    - env: USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
-    - env: USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - env: ROS_DISTRO="indigo"  PRERELEASE=true  # Run docker-based ROS prerelease test http://wiki.ros.org/bloom/Tutorials/PrereleaseTest Because we might not want to run prerelease test for all PRs, it's omitted from pass-fail criteria.
+    - env: ROS_DISTRO="indigo" PRERELEASE=true
+    - env: ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - env: ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - env: ROS_DISTRO="jade"   PRERELEASE=true
+    - env: ROS_DISTRO="kinetic"   PRERELEASE=true
+    - env: ROS_DISTRO="lunar"   PRERELEASE=true
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
-script: 
+script:
   - source .ci_config/travis.sh
 #  - source ./travis.sh  # Enable this when you have a package-local script 

openni2_launch/CHANGELOG.rst

@@ -0,0 +1,37 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package openni2_launch
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+
+0.2.2 (2015-01-23)
+------------------
+* add tf_prefix version, as per `#16 <https://github.com/ros-drivers/openni2_launch/issues/16>`_
+* fix `#19 <https://github.com/ros-drivers/openni2_launch/issues/19>`_, reverts `#16 <https://github.com/ros-drivers/openni2_launch/issues/16>`_
+* Contributors: Michael Ferguson
+
+0.2.1 (2014-05-22)
+------------------
+* Force device_id to string type
+* Contributors: Dariush Forouher, Michael Ferguson
+
+0.2.0 (2014-05-20)
+------------------
+* Remove machine arg, as it is not necessary.
+* Add tf_prefix same as openni
+* Defaults for depth processing are set apropriately for both hardware and software registration.
+* Contributors: Libor Wagner, Mark Pitchless, Michael Ferguson, Piyush Khandelwal
+
+0.1.2 (2013-09-30)
+------------------
+* Expose driver parameters. Note: depth_registration is now off by default.
+
+0.1.1 (2013-09-25)
+------------------
+* Properly namespace the nodelet manager
+
+0.1.0 (2013-09-10)
+------------------
+* First release
+* This package is a thin wrapper around rgbd_launch

openni2_launch/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(openni2_launch)
+
+find_package(catkin)
+
+catkin_package()
+
+install(DIRECTORY launch
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/
+)
+

openni2_launch/launch/includes/color.launch

@@ -0,0 +1,21 @@
+<!-- Load processing nodelets for the Color camera -->
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+
+  <!-- deprecation notice -->
+  <node name="rgb_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="rgb.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/color.launch" />
+    <param name="to_pkg_path" value="launch/includes/rgb.launch.xml" />
+  </node>
+
+</launch>

openni2_launch/launch/includes/depth.launch

@@ -0,0 +1,23 @@
+<!-- Load processing nodelets for the depth camera -->
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="points_xyz" default="" />
+  <arg name="rectify" default="" />
+  <arg name="respawn" default="" />
+  <arg name="depth" default="" />
+
+  <!-- deprecation notice -->
+  <node name="depth_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="depth.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/depth.launch" />
+    <param name="to_pkg_path" value="launch/includes/depth.launch.xml" />
+  </node>
+
+</launch>

openni2_launch/launch/includes/device.launch

@@ -0,0 +1,31 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" />
+  <arg name="device_id" />
+  <arg name="rgb_frame_id" />
+  <arg name="depth_frame_id" />
+  <arg name="rgb_camera_info_url" />
+  <arg name="depth_camera_info_url" />
+  <arg name="depth_registration" default="true" />
+  <arg name="color_depth_synchronization" default="false" />
+  <arg name="auto_exposure" default="true" />
+  <arg name="auto_white_balance" default="true" />
+  <arg name="respawn" default="false" />
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+
+  <!-- deprecation notice -->
+  <node name="device_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="device.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="openni2_launch" />
+    <param name="from_pkg_path" value="launch/includes/device.launch" />
+    <param name="to_pkg_path" value="launch/includes/device.launch.xml" />
+  </node>
+
+</launch>

openni2_launch/launch/includes/device.launch.xml

@@ -0,0 +1,60 @@
+<!-- Launch the OpenNI2 device driver -->
+<launch>
+
+  <!-- Name of nodelet manager, must be fully resolved -->
+  <arg name="manager" />
+
+  <!-- Driver parameters -->
+  <arg name="device_id" />
+  <arg name="rgb_frame_id" />
+  <arg name="depth_frame_id" />
+  <arg name="rgb_camera_info_url" />
+  <arg name="depth_camera_info_url" />
+
+  <arg name="ir_mode" default="5" />
+  <arg name="color_mode" default="5" />
+  <arg name="depth_mode" default="5" />
+  <arg name="depth_registration" default="true" />
+  <arg name="color_depth_synchronization" default="false" />
+  <arg name="auto_exposure" default="true" />
+  <arg name="auto_white_balance" default="true" />
+
+  <arg name="respawn" default="false" />
+  <arg     if="$(arg respawn)" name="bond" value="" />
+  <arg unless="$(arg respawn)" name="bond" value="--no-bond" />
+
+  <!-- Remapping arguments -->
+  <arg name="rgb"              default="rgb" />
+  <arg name="ir"               default="ir" />
+  <arg name="depth"            default="depth" />
+  <arg name="depth_registered" default="depth_registered" />
+
+  <!-- Driver nodelet -->
+  <node pkg="nodelet" type="nodelet" name="driver"
+        args="load openni2_camera/OpenNI2DriverNodelet $(arg manager) $(arg bond)"
+	    respawn="$(arg respawn)">
+    <param name="device_id" type="str" value="$(arg device_id)" />
+    <param name="rgb_camera_info_url"   value="$(arg rgb_camera_info_url)" />
+    <param name="depth_camera_info_url" value="$(arg depth_camera_info_url)" />
+    <param name="rgb_frame_id"   value="$(arg rgb_frame_id)" />
+    <param name="depth_frame_id" value="$(arg depth_frame_id)" />
+
+    <param name="ir_mode" value="$(arg ir_mode)" />
+    <param name="color_mode" value="$(arg color_mode)" />
+    <param name="depth_mode" value="$(arg depth_mode)" />
+
+    <param name="depth_registration" value="$(arg depth_registration)" />
+    <param name="color_depth_synchronization" value="$(arg color_depth_synchronization)" />
+    <param name="auto_exposure" value="$(arg auto_exposure)" />
+    <param name="auto_white_balance" value="$(arg auto_white_balance)" />
+
+    <remap from="ir" to="$(arg ir)" />
+    <remap from="rgb" to="$(arg rgb)" />
+    <remap from="depth" to="$(arg depth)" />
+    <remap from="depth_registered" to="$(arg depth_registered)" />
+
+    <remap from="$(arg rgb)/image" to="$(arg rgb)/image_raw" />
+    <remap from="$(arg depth)/image" to="$(arg depth_registered)/image_raw" />
+  </node>
+
+</launch>

openni2_launch/launch/includes/ir.launch

@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="ir" default="" />
+
+  <!-- deprecation notice -->
+  <node name="ir_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="ir.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/ir.launch" />
+    <param name="to_pkg_path" value="launch/includes/ir.launch.xml" />
+  </node>
+
+</launch>

openni2_launch/launch/includes/manager.launch

@@ -0,0 +1,18 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="debug" default="" />
+
+  <!-- deprecation notice -->
+  <node name="manager_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="manager.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/manager.launch" />
+    <param name="to_pkg_path" value="launch/includes/manager.launch.xml" />
+  </node>
+</launch>

openni2_launch/launch/includes/pointclouds.launch

@@ -0,0 +1,23 @@
+<!-- Load processing nodelets for the Color camera -->
+<launch>
+
+ <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="points_xyz" default="" />
+  <arg name="rectify" default="" />
+  <arg name="respawn" default="" />
+  <arg name="depth" default="" />
+
+  <!-- deprecation notice -->
+  <node name="depth_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="depth.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/pointclouds.launch" />
+    <param name="to_pkg_path" value="launch/includes/depth_registered.launch.xml" />
+  </node>
+
+</launch>

openni2_launch/launch/includes/processing.launch

@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="manager" default="" />
+  <arg name="respawn" default="" />
+  <arg name="rgb" default="" />
+  <arg name="ir" default="" />
+  <arg name="depth" default="" />
+
+  <!-- deprecation notice -->
+  <node name="processing_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="processing.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/includes/processing.launch" />
+    <param name="to_pkg_path" value="launch/includes/processing.launch.xml" />
+  </node>
+
+</launch>

openni2_launch/launch/kinect_frames.launch

@@ -0,0 +1,19 @@
+<launch>
+
+  <!-- have all the old parameters to prevent roslaunch errors -->
+  <arg name="camera" default="" />
+  <arg name="tf_prefix" default="" />
+
+  <!-- deprecation notice -->
+  <node name="kinect_frames_deprecated"
+        pkg="rgbd_launch"
+        type="hydro-upgrade-notice"
+        required="true">
+    <param name="name" value="kinect_frames.launch" />
+    <param name="from_pkg" value="openni2_launch" />
+    <param name="to_pkg" value="rgbd_launch" />
+    <param name="from_pkg_path" value="launch/kinect_frames.launch" />
+    <param name="to_pkg_path" value="launch/kinect_frames.launch" />
+  </node>
+
+</launch>