Feature request: Add USB information to DeviceInfo.srv

[stwirth]

On startup, the camera driver reports a lot of interesting information:

[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.009290]: Device with serial number 147422020966 was found.                                                           
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.009337]: Device with physical ID 5-2.1-10 was found.                                                                 
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.009356]: Device with name Intel RealSense D410 was found.                                                            
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.010046]: Device with port number 5-2.1 was found.                                                                    
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.010070]: Device USB type: 3.2                                                    
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.012230]: getParameters...                                                                                            
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.039811]: setupDevice...                                                                                              
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.039825]: JSON file is not provided                                                                                   
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.039833]: ROS Node Namespace: camera       
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.039841]: Device Name: Intel RealSense D410                                                                           
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.039847]: Device Serial No: 147422020966                
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.039853]: Device physical port: 5-2.1-10                                                                              
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.039859]: Device FW version: 05.12.07.150                                                                             
[INFO] [/camera/nodelet_manager] [2023-03-10 03:17:48.039865]: Device Product ID: 0x0AD2

I would like to have this information available at runtime, especially "port number 5-2.1" and "physical ID 5-2.1-10".
I think it would be great if this could be added to the fields in DeviceInfo.srv.

[MartyG-RealSense]

Hi @stwirth Camera information is published by the ROS wrapper on the /diagnostics topic. Do you get the information that you need if you echo the topic with the following command:

rostopic echo /diagnostics

[stwirth]

Hi @MartyG-RealSense,
no, I don't see that information there.

[MartyG-RealSense]

The device information can be accessed in the wrapper through a device_info 'service call'.

ROS1
https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy#available-services

ROS2
https://github.com/IntelRealSense/realsense-ros/tree/ros2-development#available-services

[stwirth]

@MartyG-RealSense sorry if I wasn't clear, I see that service, I would like to have it return additional fields regarding the USB device information.
Should be pretty trivial to add here:

realsense-ros/realsense2_camera/src/rs_node_setup.cpp

Lines 376 to 384 in 4073f15

	void BaseRealSenseNode::getDeviceInfo(const realsense2_camera_msgs::srv::DeviceInfo::Request::SharedPtr,
	realsense2_camera_msgs::srv::DeviceInfo::Response::SharedPtr res)
	{
	res->device_name = _dev.supports(RS2_CAMERA_INFO_NAME) ? create_graph_resource_name(_dev.get_info(RS2_CAMERA_INFO_NAME)) : "";
	res->serial_number = _dev.supports(RS2_CAMERA_INFO_SERIAL_NUMBER) ? _dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER) : "";
	res->firmware_version = _dev.supports(RS2_CAMERA_INFO_FIRMWARE_VERSION) ? _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION) : "";
	res->usb_type_descriptor = _dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR) ? _dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR) : "";
	res->firmware_update_id = _dev.supports(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID) ? _dev.get_info(RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID) : "";

[MartyG-RealSense]

You are welcome to submit an edit of rs_node_setup.cpp as a Pull Request (PR) for consideration for merging by the RealSense ROS developer team into the ROS wrapper.

https://github.com/IntelRealSense/realsense-ros/pulls

You could also create a custom 'fork' version of the wrapper on your own GitHub account and make the edit there.

[stwirth]

PRs for ROS1 (#2654) and ROS2 (#2655) created.

[MartyG-RealSense]

Thanks so much for the PRs!