image_view for ros2 #374
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image_view for ros2 #374
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not all tests passed in my local, I'll try to do some changes based on this PR. |
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@ahuizxc I did some changes based on your patch, would you please apply on your code and modify other files. here is the patch for reference: yechun1@335f5c7 |
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@yechun1 @mjcarroll I have made some changes to this package for better launch and more consist with ros. |
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@ahuizxc - Please rebase your branch on the |
Port depth image proc on ROS2 (ros-perception#362) * Port depth_image_proc on ROS2 * Port depth_image_proc of image_pipeline on ROS2 * rename Nodelets as Node * add launch examples, such as "ros2 launch depth_image_proc point_cloud_xyzi.launch.py" * verified point_cloud_xyzrgb, point_cloud_xyz, convert_metric based on Realsense camera(https://github.com/intel/ros2_intel_realsense). Signed-off-by: Chris Ye <chris.ye@intel.com> * add ament_lint_auto test and adjust code style Signed-off-by: Chris Ye <chris.ye@intel.com> * update test example for depth_image_proc - rename raw topic as image_transport fixed the issue (ros-perception/image_common#96) - update test example of point_cloud_xyzrgb.launch Signed-off-by: Chris Ye <chris.ye@intel.com> * remove unused dependence in cmakelist * remove boost which is unused on ROS2 * remove cv_bridge version check logic as setted in find_package * update maintainer in package.xml Signed-off-by: Chris Ye <chris.ye@intel.com> * added all example launchers for demo test pass test: ros2 launch depth_image_proc point_cloud_xyzrgb.launch.py ros2 launch depth_image_proc point_cloud_xyz.launch.py ros2 launch depth_image_proc convert_metric.launch.py ros2 launch depth_image_proc crop_foremost.launch.py ros2 launch depth_image_proc point_cloud_xyz_radial.launch.py ros2 launch depth_image_proc disparity.launch.py ros2 launch depth_image_proc register.launch.py ros2 launch depth_image_proc point_cloud_xyzi.launch.py ros2 launch depth_image_proc point_cloud_xyzi_radial.launch.py Signed-off-by: Chris Ye <chris.ye@intel.com> * @wip update to use raw pointers. * continue to update to use raw pointer Signed-off-by: Chris Ye <chris.ye@intel.com> enable rclcpp_register_node_plugins (ros-perception#368) this may be remarked while code debugging, should be enabled to build node plugin file and added points remap in point_cloud_xyzrgb.launch.py port image_publisher on ROS2 (ros-perception#366) * port image_publisher on ROS2 * switch to use cmake 3.5 * change nodelet to classloader * change ros::param to ros2 parameter APIs * use ros2 code style * enable ros2 camera_info_manager Changelogs. 2.0.0 code change for ros2 image_view porting run example: ros2 run image_view image_view --image /camera/color/image_raw add launch file to consist with ros image_view: ros2 launch image_view image_view.launch.py image:=<image topic> disparity_view: ros2 launch image_view disparity_view.launch.py image:=<disparity image topic> stereo_view: ros2 launch image_view stereo_view stereo:=<stereo namespace> image:=<image topic identifier> image_saver: ros2 launch image_view image_saver.launch.py image:=<image topic> extract_images: ros2 launch image_view extract_images.launch.py image:=<image topic> video_recorder: ros2 launch image_view video_rocorder.launch.py images:=<image topic> Details in README.md
hi, is there anything i can do? thanks:) |
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@ahuizxc you need to rebase and fix these changes so you have just the image view stuff again. |
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Replaced by #475 |
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usage for test:
image_view:
"ros2 run image_view image_view_exe --topic /camera/image --transport raw" or "ros2 run image_view image_view_exe --topic /camera/image"
image_saver:
"ros2 run image_view image_saver --topic /camera/image"
stereo_view:
"ros2 run image_view stereo_view --left_topic /camera/left_image --right_topic /camera/right_image --disparity /camera/disparity_image"
video_recoder:
"ros2 run image_view video_recoder --topic /camera/image --filename output.avi"
disparity_node:
ros2 launch image_view
"ros2 launch image_view disparity_node.launch.py"