[ros2] Camera and triggered camera

[chapulina]

See ROS 2 Migration: Camera.

This needs ros-perception/image_common#95 .

TODOs:

• This PR uses features not available on Bouncy, so all CI will fail. FYI @j-rivero

• I didn't have time to port dynamic reconfigure. I left the ROS1 code commented out. Feel free to implement it if you feel inspired or I can take it when I get back.

• The gazebo_ros_camera_distortion test fails on teardown because the ROS node's destructor hangs forever. Not sure yet if the problem is coming from rclcpp, gazebo_ros or image_transport.

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Demos

All instructions to run the demos can be found on their world files.

gazebo_ros_camera_demo

gazebo_ros_triggered_camera_demo

gazebo_ros_camera_distortion_barrel_demo

gazebo_ros_camera_distortion_pincushion_demo

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[mjcarroll]

Generally looks good to me.

I'm interested to know why the ros_node_.reset() causes issues here. May be worth adding an issue to track it if you haven't already.

[chapulina]

Thanks for the review, @mjcarroll ! I'll take another look at the node reset issue this week and ticket an issue if I can't make progress.

We should only merge this PR once we have CI working for it. I think this means we need:

• image_transport into Crystal release
• message_filters into into ros2.repos
• camera_info_manager into Crystal release
• cv_bridge Crystal release
• ros2_gazebo_pkgs-ci-pr_any_bouncy-bionic-amd64 to use crystal instead of bouncy
• Disable Bpr__gazebo_ros_pkgs__ubuntu_bionic_amd64 and use https://ci.ros2.org/ until we have crystal jobs.

[mjcarroll]

message_filters: ros2/ros2#588

[chapulina]

PR disabling the OSRF build farm for Bouncy

[chapulina]

Updated this PR on da044a5 to use image_transport's topic remapping: ros-perception/image_common#97

[chapulina]

So after today's meeting, it was decided that this PR will wait until there are Crystal debs available, so we can use those on the OSRF buildfarm for CI. Until then, gazebo_ros_pkgs's ros2 branch should keep working against both Bouncy debs and the master ros2.repos built from source.

[chapulina]

Thanks @mjcarroll for handling the release of image_common. I just tested this branch against crystal debs and everything works fine 🎉

I'm trying to adapt the OSRF build farm CI to use crystal here. Will merge this and the other 2 PRs targeted at ros2 before making the Crystal release.

[chapulina]

OSRF build farm CI:

• the sim time tests are also failing in the ros2 branch
• not sure yet why the camera tests are failing in Jenkins, they pass for me locally
• not sure what's going on with uncrustify either

[chapulina]

@ros-pull-request-builder retest this please

[j-rivero]

@osrf-jenkins run tests please

[chapulina]

Not going to delay this further, merging now even though there's no CI to test it. All pass locally, we should revisit once we have GPU-enabled CI working.