Adding depth units value to frame metadata

src/ds5/ds5-device.cpp

@@ -377,7 +377,9 @@ namespace librealsense
         {
             _metadata_modifier = callback;
             auto s = get_raw_sensor().get();
-            As< librealsense::uvc_sensor >(s)->set_frame_metadata_modifier(callback);
+            auto uvc = As< librealsense::uvc_sensor >(s);
+            if(uvc)
+                uvc->set_frame_metadata_modifier(callback);
         }
 
         void open(const stream_profiles& requests) override

src/media/ros/ros_writer.cpp

@@ -188,7 +188,7 @@ namespace librealsense
         image.header.seq = static_cast<uint32_t>(vid_frame->get_frame_number());
         std::chrono::duration<double, std::milli> timestamp_ms(vid_frame->get_frame_timestamp());
         image.header.stamp = rs2rosinternal::Time(std::chrono::duration<double>(timestamp_ms).count());
-        image.header.version = "1"; // used to distinguish between old rosbag and new rosbag that contains depth units in frame metadata
+        image.header.version = "1"; // the field is unused and therefore assigned for ROSbag versions control
         auto df = dynamic_cast<librealsense::depth_frame*>(frame.frame);
         if(df)
             image.depth_units = df->get_units();
@@ -208,7 +208,7 @@ namespace librealsense
         imu_msg.header.seq = static_cast<uint32_t>(frame.frame->get_frame_number());
         std::chrono::duration<double, std::milli> timestamp_ms(frame.frame->get_frame_timestamp());
         imu_msg.header.stamp = rs2rosinternal::Time(std::chrono::duration<double>(timestamp_ms).count());
-        imu_msg.header.version = "1"; // used to distinguish between old rosbag and new rosbag that contains depth units in frame metadata
+        imu_msg.header.version = "1"; // the field is unused and therefore assigned for ROSbag versions control
         auto data_ptr = reinterpret_cast<const float*>(frame.frame->get_frame_data());
         if (stream_id.stream_type == RS2_STREAM_ACCEL)
         {

third-party/realsense-file/rosbag/msgs/sensor_msgs/Image.h

@@ -281,7 +281,7 @@ struct Printer< ::sensor_msgs::Image_<ContainerAllocator> >
       s << indent << "  data[" << i << "]: ";
       Printer<uint8_t>::stream(s, indent + "  ", v.data[i]);
     }
-    if (v.depth_units)
+    if (v.depth_units != 0)
     {
         s << indent << "depth_units: ";
         Printer<float>::stream(s, indent + "  ", v.depth_units);

third-party/realsense-file/rosbag/msgs/std_msgs/Header.h

@@ -44,7 +44,7 @@ struct Header_
   _stamp_type stamp;
 
    typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _frame_id_type;
-  _frame_id_type version;
+  _frame_id_type version; // the field is used for ROSbag versions control