ros2_intel_realsense: added initial version

This is the initial version of “realsense_ros2_camera”,
a ROS2 node for Intel Realsense D400 series RGB-D camera.
This derived from its ROS package “realsense_ros_camera”
https://github.com/intel-ros/realsense/tree/2.0.1

Signed-off-by: Sharron LIU <sharron.liu@intel.com>

.gitignore

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+*.bin
+*.ppm
+*.bag

LICENSE

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README.md

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+# ROS2 Wrapper for Intel® RealSense™ Devices
+These are packages for using Intel RealSense cameras (D400 series) with ROS2.
+
+## Installation Instructions
+
+The following instructions were verified with ROS2 Ardent on **Ubutnu 16.04**.
+
+### Step 1: Install the Intel® RealSense™ SDK 2.0
+Install tag v2.9.1 [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/tree/v2.9.1) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/v2.9.1/doc/installation.md).
+
+### Step 2: Install the ROS2 distribution
+- #### Install [ROS2 Ardent Apalone](https://github.com/ros2/ros2/wiki/Release-Ardent-Apalone) from binary or source.
+- #### Source the environment
+```bash
+# from binary install
+$ source /opt/ros/ardent/setup.bash
+# from source install
+$ cd ~/ros2_ws
+$ source install/local_setup.bash
+```
+
+### Step 3: Install Intel® RealSense™ ROS2 from Sources
+- Goto an existing ros2 workspace, or [create one](https://github.com/ros2/ros2/wiki/Ament-Tutorial#create-directory-structure)
+```bash
+$ mkdir -p ~/ros2_ws/src
+$ cd ~/ros2_ws/src
+```
+- Clone the latest Intel® RealSense™ ROS2 from [here](https://github.com/intel/ros2_intel_realsense) into 'ros2_ws/src/'
+
+```bash
+$ cd ..
+$ ament build --build-tests --symlink-install --only cv_bridge realsense_camera_msgs realsense_ros2_camera
+$ source ./install/local_setup.bash
+```
+
+## Usage Instructions
+
+### Start the camera node
+To start the camera node in ROS2, plug in the camera, then type the following command:
+
+```bash
+# To launch with "ros2 run"
+$ ros2 run realsense_ros2_camera realsenes_ros2_camera
+# OR, to invoke the executable directly
+$ realsense_ros2_camera
+```
+
+This will stream all camera sensors and publish on the appropriate ROS2 topics. PointCloud2 is enabled by default, till we provide ROS2 python launch options.
+
+### Published Topics
+[/camera/depth/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
+
+[/camera/color/image_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
+
+[/camera/infra1/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
+
+[/camera/infra2/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
+
+[/camera/depth/color/points](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg)
+
+### Visualize Depth Point Cloud
+
+To start the camera node in ROS2 and view the depth pointcloud in rviz via [ros1_bridge](https://github.com/ros2/ros1_bridge/blob/master/README.md):
+```bash
+# firstly self-build ros1_bridge, than refer to section "Example 1b: ROS 2 talker and ROS 1 listener"
+
+# in console #1 launch roscore
+$ source /opt/ros/kinetic/setup.bash
+$ roscore
+
+# in console #2 launch ros1_bridge
+$ source /opt/ros/kinetic/setup.bash
+$ cd ~/ros2_ws
+$ source ./install/local_setup.bash
+$ export ROS_MASTER_URI=http://localhost:11311
+$ ros2 run ros1_bridge dynamic_bridge
+
+# in console #3 launch rviz
+$ source /opt/ros/kinetic/setup.bash
+$ rosrun rviz rviz -d ~/ros2_ws/src/realsense_ros2/realsense_ros2_camera/rviz/ros2.rviz
+
+# in console #4 launch realsense_ros2_camera
+$ source ~/ros2_ws/install/local_setup.bash
+$ realsense_ros2_camera
+```
+
+This will launch [RViz](http://wiki.ros.org/rviz) and display the five streams: color, depth, infra1, infra2, pointcloud.
+
+NOTE: in case PointCloud2 stream is not observed, try stop the "realsense_ros2_camera" and re-launch this node from console #4. This's a known issue and workaround is made (right fixing in ros1_bridge, details discussed in [ROS discourse](https://discourse.ros.org/t/ros1-bridge-failed-to-pass-tf-static-message-when-subscribed-from-rviz/3863)).
+
+NOTE: visulization in ROS2 pending on [rviz2](https://github.com/ros2/rviz).
+
+![realsense_ros2_camera visualization results](https://github.com/intel/ros2_intel_realsense/raw/master/realsense_ros2_camera/rviz/ros2_rviz.png "realsense_ros2_camera visualization results")
+
+## Known Issues
+* This ROS2 node does not currently provide any dynamic reconfigure support for camera properties/presets.
+* ROS2 compatible unit-tests will be added soon.
+
+## Todo
+A few features to be ported from the latest realsense_ros_camera v2.0.2
+* RGB-D point cloud (depth_registered)
+* Preset/Controls
+
+## License
+Copyright 2018 Intel Corporation
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this project except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+**Other names and brands may be claimed as the property of others*
+
+Any security issue should be reported using process at https://01.org/security

cv_bridge_light/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(cv_bridge)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(CMAKE_CXX_FLAGS "-fPIE -fPIC -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")
+
+find_package(ament_cmake REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(OpenCV REQUIRED)
+
+include_directories(
+  include
+  ${sensor_msgs_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME}
+  src/cv_bridge.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${sensor_msgs_LIBRARIES}
+)
+ament_target_dependencies(${PROJECT_NAME}
+  sensor_msgs
+  OpenCV
+)
+
+# Install binaries
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+# Install header files
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
+ament_package()

cv_bridge_light/README.md

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+This is a temporary solution of ROS2 cv_bridge, required by realsense_ros2_camera.
+Till the [upstream cv_bridge](https://github.com/ros2/vision_opencv) ready for ROS2.