Merge intel-ros realsense from upstream to Avidbots realsense development

.gitignore

@@ -3,3 +3,6 @@
 *.bag
 *.pyc
 *.ini
+.idea/
+.vs/
+*.json

.travis.yml

@@ -25,7 +25,7 @@ install:
   - sudo apt-get install ros-kinetic-diagnostic-updater -y
   - source ~/.bashrc
   - mkdir -p ~/catkin_ws/src/realsense
-    
+
   # install realsense2-camera
   - mv * ~/catkin_ws/src/realsense/     # This leaves behind .git, .gitignore and .travis.yml but no matter.
   - cd ~/catkin_ws/src/

NOTICE

@@ -0,0 +1,4 @@
+This project uses code from the following third-party projects, listed here
+with the full text of their respective licenses.
+
+ddynamic_reconfigure (BSD) - https://github.com/awesomebytes/ddynamic_reconfigure

README.md

@@ -5,16 +5,15 @@ These are packages for using Intel RealSense cameras (D400 series and the SR300)
 
 The following instructions support ROS Indigo, on **Ubuntu 14.04**, and ROS Kinetic, on **Ubuntu 16.04**.
 
+#### The simplest way to install on a clean machine is to follow the instructions on the [.travis.yml](https://github.com/intel-ros/realsense/blob/development/.travis.yml) file. It basically summerize the elaborate instructions in the following 3 steps:
+
 ### Step 1: Install the latest Intel® RealSense™ SDK 2.0
-- #### Install from [Debian Package](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
+- #### Install from [Debian Package](https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) - In that case treat yourself as a developer. Make sure you follow the instructions to also install librealsense2-dev package.
 
 #### OR
-- #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/latest) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
+- #### Build from sources by downloading the latest [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense/releases/tag/v2.17.0) and follow the instructions under [Linux Installation](https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md)
 
 ### Step 2: Install the ROS distribution
-- #### Install [ROS Indigo](http://wiki.ros.org/indigo/Installation/Ubuntu), on Ubuntu 14.04
-
-#### OR
 - #### Install [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu), on Ubuntu 16.04
 
 ### Step 3: Install Intel® RealSense™ ROS from Sources
@@ -81,6 +80,35 @@ roslaunch realsense2_camera rs_multiple_devices.launch serial_no_camera1:=<seria
 ```
 The camera serial number should be provided to `serial_no_camera1` and `serial_no_camera2` parameters. One way to get the serial number is from the [rs-enumerate-devices](https://github.com/IntelRealSense/librealsense/blob/58d99783cc2781b1026eeed959aa3f7b562b20ca/tools/enumerate-devices/readme.md) tool.
 
+Another war of obtaining the serial number is connecting the camera alone, running 
+```bash
+roslaunch realsense2_camera rs_camera.launch
+```
+and looking for the serial number in the log printed to screen under "[INFO][...]Device Serial No:".
+
+Another way to use multiple cameras is running each from a different terminal. Make sure you set a different namespace for each camera using the "camera" argument:
+
+```bash
+roslaunch realsense2_camera rs_camera.launch camera:=cam_1 serial_no:=<serial number of the first camera>
+roslaunch realsense2_camera rs_camera.launch camera:=cam_2 serial_no:=<serial number of the second camera>
+...
+
+```
+### Enabling post processing filters.
+realsense2_camera includes some built in post processing filters:<br>
+colorizer - creates an RGB image instead of depth image. Used to visualize the depth image.<br>
+spatial - filter the depth image spatially.<br>
+temporal - filter the depth image temporally.<br>
+pointcloud - it is now possible to enable point cloud with the same command as any other post processing filter.<br>
+
+The colorizer filter replaces the image in the topic: /<camera>/depth/image_rect_raw.
+The spatial and temporal filters affect the depth image and all that is derived from it, i.e. pointcloud and colorizer.
+
+to activate the filters, use the argument "filters" and deperate them with a comma:
+```bash
+roslaunch realsense2_camera rs_camera.launch filters:=temporal,spatial,pointcloud
+```
+
 
 ## Packages using RealSense ROS Camera
 | Title | Links |

ddynamic_reconfigure/.gitignore

@@ -0,0 +1,2 @@
+*~
+*user

ddynamic_reconfigure/CHANGELOG.rst

@@ -0,0 +1,65 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ddynamic_reconfigure
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.6 (2018-07-02)
+------------------
+* Recreated classes to enable OOD (adding more param types will be easy)
+* Added string and enum support
+* generalised the callback
+  You can now look into the new values with the current callback format.
+* Level support added.
+* Added unit-tests for all param classes.
+* Added unit-tests for value class.
+* Upgraded fake-server test & removed bool-server test (obsolete).
+* Added description support.
+* Added stream (<<) operator to ddynamic and its params.
+* Contributors: Noam Dori
+
+0.0.5 (2016-04-14)
+------------------
+* Merge branch 'user-callback' into 'dubnium-devel'
+  User callback
+  Remember that we have to re release everyone who depends on this since it breaks API.
+  See merge request !1
+* Add test for double param
+* Add hack to have namespaced DdynamicReconfigure, for easier migration
+* Add user callback and unit tests
+* Migrate package to format 2
+* Contributors: Hilario Tome, Victor Lopez
+
+0.0.4 (2016-03-07)
+------------------
+* Added destructor, fixed bug
+* Added to dynamic reconfigure to parse from param server the initial value if it is availlable
+* Contributors: Hilario Tome
+
+0.0.3 (2015-06-10)
+------------------
+* Added license and documentation
+* Contributors: Hilario Tome
+
+0.0.2 (2015-05-25)
+------------------
+* Added min and max value specification when registering a variable
+* Contributors: Hilario Tome
+
+0.0.1 (2015-01-26)
+------------------
+* fix author, mantainer
+* move ddynamic reconfigure to standalone repo
+* Prepare ddynamic_reconfigure for standalone package
+* Added safe header
+* Added test folder
+* Fixed a bug when generating the config description, the int vector was being used in the bool part
+* Added typedef for ddreconfigure
+* Bug fix, now the parameters can be seen in dynamic reconfigure even if they have changed from c++
+* Updated DDynamic reconfigure to published updated values persistently
+* Added working momentum task
+* Fixed bug, wrong return statement
+* Fixed export
+* Fixed bug in ddynamic reconfigure and its CmakeFile
+* Minor changes to add the abstract reference to the goto dynamic tasks
+* Dynamics wbc is working again (Really slowly with uquadprog) visualization of torques and partially of forces (also partial force integration)
+* Added DDyanmic_reconfigure package, a way to have dynamic reconfigure functionality without a cfg
+* Contributors: Hilario Tome, Luca Marchionni

ddynamic_reconfigure/CMakeLists.txt

@@ -0,0 +1,77 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ddynamic_reconfigure)
+
+find_package(catkin REQUIRED COMPONENTS roscpp message_generation)
+
+set(CMAKE_CXX_STANDARD 98)
+
+##############
+## Services ##
+##############
+
+add_service_files(DIRECTORY test FILES TutorialParams.srv)
+generate_messages(DEPENDENCIES std_msgs)
+
+############
+## Catkin ##
+############
+
+catkin_package(INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS)
+
+#############
+## Library ##
+#############
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+add_library(${PROJECT_NAME}
+        src/ddynamic_reconfigure.cpp
+        include/ddynamic_reconfigure/dd_param.h
+        src/param/dd_int_param.cpp
+        include/ddynamic_reconfigure/dd_value.h
+        src/param/dd_double_param.cpp
+        src/param/dd_bool_param.cpp
+        src/param/dd_string_param.cpp
+        src/param/dd_enum_param.cpp
+        include/ddynamic_reconfigure/param/dd_all_params.h src/dd_param.cpp)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+install(TARGETS ${PROJECT_NAME}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+#############
+## Testing ##
+#############
+
+if (CATKIN_ENABLE_TESTING)
+    find_package(rostest REQUIRED)
+
+    ## DDynamic tester
+    add_rostest_gtest(ddynamic_reconfigure-test test/ddynamic_reconfigure.test test/test_ddynamic_reconfigure.cpp)
+    target_link_libraries(ddynamic_reconfigure-test ${PROJECT_NAME})
+
+    ## DDParam tester
+    foreach (param_type int double bool string enum)
+        add_rostest_gtest(dd_${param_type}-test test/dd_param/dd_${param_type}.test test/dd_param/test_dd_${param_type}.cpp)
+        target_link_libraries(dd_${param_type}-test ${PROJECT_NAME})
+    endforeach ()
+
+    ## DDValue tester
+    add_rostest_gtest(dd_value-test test/dd_value.test test/test_dd_value.cpp)
+    target_link_libraries(dd_value-test ${PROJECT_NAME})
+
+    ## Full scale tester
+    add_executable(dd_server test/dd_full_scale/dd_server.cpp)
+    target_link_libraries(dd_server ${PROJECT_NAME} ${catkin_LIBRARIES})
+    add_dependencies(dd_server ${PROJECT_NAME}_gencpp)
+
+    add_rostest_gtest(dd_full_scale-test test/dd_full_scale/dd_full_scale.test test/dd_full_scale/dd_client.cpp)
+    target_link_libraries(dd_full_scale-test ${PROJECT_NAME})
+endif(CATKIN_ENABLE_TESTING)