Start IMU in startCamera #175

mkhansenbot · 2016-12-20T23:35:55Z

Please ensure the above guidelines for contributing are met.

Fixes Issue: #

Changes proposed in this pull request:

This fixes the try_for_lock timeout error that sometimes occurs for ZR300 on some systems
It changes the way the IMU is started for ZR300 to start IMU and streams using device->start(rs_source::RS_SOURCE_ALL)
This removes the call to rs_start_source(...) for the IMU
Doing so also aligns the camera and IMU timestamps

mdhorn · 2016-12-20T23:55:04Z

realsense_camera/src/base_nodelet.cpp

@@ -723,8 +723,7 @@ 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();
+      rs_device_->start(rs_source_);


This is the only C++ style realsense call we are making. Was there no C api for this?
If this throws an exception (during start/stop power service), do we catch it?

Good point. I'll add a try-catch.

mdhorn · 2016-12-21T00:08:57Z

realsense_camera/src/zr300_nodelet.cpp

+    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


You need to have "at least two" spaces before an End of Line comment.
realsense/realsense_camera/src/zr300_nodelet.cpp:572: At least two spaces is best between code and comments [whitespace/comments] [2]

mkhansenbot · 2016-12-21T00:27:44Z

Added try-catch and fixed the roslint error, please review again

mdhorn

LGTM 👍

mdhorn

roslint now showing the use of tabs

mdhorn · 2016-12-21T00:37:23Z

@mkhansen-intel
to check roslint before submitting
catkin_make roslint_realsense_camera

mkhansenbot · 2016-12-21T00:49:08Z

OK, now that I know how to run roslint I fixed the issues

mdhorn · 2016-12-21T02:04:22Z

@mkhansen-intel Sorry, I missed the merge-squash and only did a merge. 👎
I think we are stuck with the history now or the PR's won't match up.

Refactoring PR IntelRealSense#175 broke the logic for disabling IMU

* Don't ignore linker flags set by user Yocto's bitbake sets global LDFLAGS that include the option --hash-style=gnu. If this option is ignored then bitbake's QA checks report that QA Issue: No GNU_HASH in the elf binary: '/[...]/opt/ros/indigo/lib/librealsense_camera_nodelet.so' [ldflags] The patch includes user defined linker flags to CMAKE_SHARED_LINKER_FLAGS defined in the project's CMakeList.txt. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com> * Make system wrapper function generic Error message was assume only use was dynamic reconfigure Added boost as ROS dependency -- should have already been required. * Added imu_start_ts for imu sync * Added frame callbacks instead of rs_wait_for_frames * Added imu_mutex for data sync to callback * Refactored setStreams * Removed prepareTopics thread; replaced with setDepthEnable * Changed depth_scale_meters to local var * Renamed getStreamData to setImageData * Change color stream default to 30fps Improve reliability of the camera by reducing the color stream to 30fps by default. This will be the highest frame rate which will be validate with VGA or higher resolutions for use with ROS. Default files will no longer use the librealsense preset modes as they will be depreciated in the future. * Fixed boost mutex error when destroying ZR300 nodelet Replaced boost::mutex with std::mutex * Added destructor to ZR300 nodelet to join thread * Fix F200/SR300 tests for new default 30fps The F200 and SR300 tests were attempting too much code reuse by include the r200_nodelet_default.launch file. When the Default launch files were changed to set 30fps as the new default for the color stream, F200/SR300 also had to set new defaults for the Depth stream to prevent using the invalid R200 depth default. The R200 default file does NOT pass the depth_width and depth_height to the nodelet so the override values were lost. * Add Dynamic Transforms support -- multi-cam Due to a ROS bug which prevents publishing more than one static transform in separate processes, enable the use of dynamic camera transforms when needed for multiple camera support. Static transforms are still the default. See: ros/ros_comm#146 ros/geometry2#181 * Code Review Fixes * Enable ROS Lint Many minor fixes to be compliant with ROS Lint standards. * C++11 Flagged ROS Lint items Suppressing these for now, but should be investigated as they are not compliant with current ROS standards. * Update Change log for release * 1.7.0 * Update RGBD launch files. Modify the r200/sr300 RGBD-style launch files to no longer use the RGBD depth/ir/rgb_processing flags to control whether the corresponding stream is also enabled. For example, now turning off RGBD depth *processing* will no longer disable the depth stream itself. * Do not register IR callback if stream disabled Work around bug in librealsense where the callback for IR is called even if the stream is disabled if IR2 stream is enabled. See IntelRealSense/librealsense#393 * Start IMU in startCamera * Fix Multi-cam example launch file Leading '/' required to ensure both cameras use the same nodelet manager due to group name space. * Added try-catch for start and stop device * Fixed spacing before comment - roslint failure * Disable Fisheye and IMU on ZR300 for RGBD launch * Fixed roslint tabs errors * Allow Disabling of IMU after PR#175 Refactoring PR IntelRealSense#175 broke the logic for disabling IMU * Updated Change Log for 1.7.0 * Added retry in tests to avoid random failures * Also exclude swap files from Git * Use shared timestamp for SR300/F200 cameras Due to camera hardware issues on the SR300 and F200, reverted back to using a common timestamp updated by the fastest stream. This was the old behaviour when rs_wait_for_frames was used prior to release 1.7.0. * Generate Warning for non-validated camera firmware Compare the camera's firmware version to the validated firmware version. Log a warn message if the two firmware versions do not match. If the camera is ZR300, also check the adapter firmware version and the motion module firmware version. * Updated Change Log for 1.7.1 * 1.7.1 * Git ignore QT Creator *.workspace files * Upload 18 bat tests Upload first version of stable bat tests, there are 2 common tests to check librealsense and realsense_camera installed, and there are 4 specific tests of each camera (R200/F200/SR300/ZR300) to check camera info matrix, enabled tf, set power off/on and force power off/on, totally 18 tests. All the tests are based on rospy, using python script as test type. * Changed fisheye_strobe and fisheye_external_trigger to static params * Change tf to using setRPY for consistency * Create tool to get debug info Create a node tool that, when run, will display the user's operating system, kernel, ROS version, RealSense version, librealsense version, and the type and firmware of any detected cameras. * Fix minor spelling errors * Updated the maintainers * Update change log * 1.7.2 * Added SyncNodelet class * Updated F200 to be based on SyncNodelet * Updated SR300 to be based on SyncNodelet * Fixed roslint errors * Removed getTimestamp override from F200 and SR300 * Updated r200 to be based on SyncNodelet * Added loop checking of start/stop camera * Update Debug Tool Update debug tool to show motion module and adapter firmwares for the ZR300 camera. Update the validated firmware versions. * Added check for depth_enable dynamic change * Dynamic reconfigure of SR300 exposure controls * Updated Copyright to 2017 * Added SyncNodelet destructor * Added blank lines for readability after closing braces * Fixed LR auto exposure issue IntelRealSense#131 LR gain should be set only when LR auto exposure is disabled * Add option to link against non-catkin librealsense In OpenEmbedded setups where both meta-ros and meta-intel-realsense layers are used it's problematic to avoid two copies of librealsense installed onto an embedded target: one catkit-based installed under /opt/ros and one other installed to a standard system location. This patch adds an option making realsense_camera link against librealsense provided by the host system. By default the currently existing behavior is preserved. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com> * Enable roslint when CATKIN_ENABLE_TESTING is True roslint depends on catkin_run_tests_target() which is defined only when CATKIN_ENABLE_TESTING is True. Thus run roslint functions in CMakeLists.txt only when testing is enabled. Signed-off-by: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com> * Exposed autoexposure toggle and exposure control for F200, R200. Updated copyright data on nodelets * Fix build timing issue for catkin * Make ZR300 consistent with other cameras Recent color auto exposure code changes are slightly different for SR300/F200/R200 from ZR300. Mainly the ZR300 needed the same if condition added for only setting the manual value when auto exposure is disabled. * Updated changelog * 1.8.0 * Enable configuration of the TF publication rate when using tf_dynamic The parameter is called tf_publication_rate * 1.8.0 -- Updated * librealsense: Fix link when the system library is used Otherwise librealsense won't be listed as a dependency for the nodelet that will fail to load due to undefined symbols. Signed-off-by: Murilo Belluzzo <murilo.belluzzo@intel.com> * Add RGDB launch file for the ZR300

Start IMU in startCamera

4e4d5c9

mkhansenbot requested review from mdhorn and reaganlo December 20, 2016 23:41

mdhorn reviewed Dec 20, 2016

View reviewed changes

mdhorn reviewed Dec 21, 2016

View reviewed changes

Matt Hansen added 2 commits December 20, 2016 16:23

Added try-catch for start and stop device

68fe7de

Fixed spacing before comment - roslint failure

360143c

mdhorn approved these changes Dec 21, 2016

View reviewed changes

mdhorn suggested changes Dec 21, 2016

View reviewed changes

Fixed roslint tabs errors

f3618e9

mdhorn approved these changes Dec 21, 2016

View reviewed changes

mdhorn merged commit 74d32f1 into IntelRealSense:indigo-devel Dec 21, 2016

mdhorn added a commit to mdhorn/realsense that referenced this pull request Dec 21, 2016

Allow Disabling of IMU after PR#175

acc85c6

Refactoring PR IntelRealSense#175 broke the logic for disabling IMU

mdhorn mentioned this pull request Dec 21, 2016

Allow Disabling of IMU after PR#175 #176

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Start IMU in startCamera #175

Start IMU in startCamera #175

mkhansenbot commented Dec 20, 2016

mdhorn Dec 20, 2016

mkhansenbot Dec 20, 2016

mdhorn Dec 21, 2016

mkhansenbot commented Dec 21, 2016

mdhorn left a comment

mdhorn left a comment

mdhorn commented Dec 21, 2016

mkhansenbot commented Dec 21, 2016

mdhorn commented Dec 21, 2016

Start IMU in startCamera #175

Start IMU in startCamera #175

Conversation

mkhansenbot commented Dec 20, 2016

mdhorn Dec 20, 2016

Choose a reason for hiding this comment

mkhansenbot Dec 20, 2016

Choose a reason for hiding this comment

mdhorn Dec 21, 2016

Choose a reason for hiding this comment

mkhansenbot commented Dec 21, 2016

mdhorn left a comment

Choose a reason for hiding this comment

mdhorn left a comment

Choose a reason for hiding this comment

mdhorn commented Dec 21, 2016

mkhansenbot commented Dec 21, 2016

mdhorn commented Dec 21, 2016