Exposing stream_format params to user #2811

Arun-Prasad-V · 2023-07-12T07:09:19Z

The user can select the stream_format for all the video streams through below params:

rgb_camera.color_format
depth_module.depth_format
depth_module.infra_format
depth_module.infra1_format
depth_module.infra2_format

Run ros2 param describe <your_node_name> <param_name> command to know the list of formats supported by that particular stream.
Alternatively, run rs-enumerate-devices command to know the list of profiles supported by the sensors connected.

…mats

realsense2_camera/src/profile_manager.cpp

realsense2_camera/launch/rs_multi_camera_launch.py

realsense2_camera/src/profile_manager.cpp

SamerKhshiboun · 2023-07-19T14:50:37Z

realsense2_camera/src/profile_manager.cpp

+
+void VideoProfilesManager::registerVideoSensorProfileFormat(stream_index_pair sip)
+{
+    if (sip == DEPTH)


should these formats be hard coded? what will happen if different camera models support different default profiles?
can't we use liberalsense api to fetch/query the default profiles for each sip ?

Sure. Will do so.

LibRealSense APIs gives the default profiles of color and depth streams only. Couldn't get those for Infra streams.

@Arun-Prasad-V,
can we query the device about default profiles for the given streams, and if default is not given, then to hard coded it ?

Yes, we can query about default profiles and configure the format, if found. If not, maybe can we choose the first found format whose profile's resolution matches with depth stream? So that there won't be anything hard coded.

realsense2_camera/launch/rs_launch.py

realsense2_camera/src/profile_manager.cpp

…mats

realsense2_camera/src/profile_manager.cpp

SamerKhshiboun · 2023-07-30T11:42:19Z

Arun, I tried testing this PR behavior.
Two things I noticed:
on every new run/launch of ros2 node, I'm getting this:

[realsense2_camera_node-1] [INFO] [1690716658.785760351] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [WARN] [1690716658.786094187] [camera.camera]: re-enable the infra stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1690716658.786197250] [camera.camera]: re-enable the infra1 stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1690716658.786345386] [camera.camera]: re-enable the infra2 stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1690716658.794661608] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30

Is this due to this change ?

Also, I left a comment about the parameters names.

SamerKhshiboun · 2023-07-30T11:47:51Z

realsense2_camera/src/profile_manager.cpp

+                        found = true;
+                        _formats[sip] = RS2_FORMAT_ANY;
+                    }
+                    else if (string_to_rs2_format(format_str , &temp_format))


Please change this function name to be something more clear.
I expect it only to convert from string to rs2_format, but it return a Boolean that we need to check.
Or, maybe, change the design of these lines..

Have updated the design of this function. Will return RS2_FORMAT_ANY if not found. Should I change the function name as well?

realsense2_camera/src/ros_utils.cpp

Arun-Prasad-V · 2023-07-31T03:47:08Z

Arun, I tried testing this PR behavior. Two things I noticed: on every new run/launch of ros2 node, I'm getting this:

[realsense2_camera_node-1] [INFO] [1690716658.785760351] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [WARN] [1690716658.786094187] [camera.camera]: re-enable the infra stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1690716658.786197250] [camera.camera]: re-enable the infra1 stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1690716658.786345386] [camera.camera]: re-enable the infra2 stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1690716658.794661608] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30

Is this due to this change ?

Also, I left a comment about the parameters names.

Hi @SamerKhshiboun ,
This will happen if the default param set by RS ROS2 wrapper is different from the value set during run/launch.

It occurs not only for the new params, also for old params like "rgb_camera.profile" & "depth_module.profile".

Arun-Prasad-V · 2023-07-31T06:44:18Z

Arun, I tried testing this PR behavior. Two things I noticed: on every new run/launch of ros2 node, I'm getting this:
[realsense2_camera_node-1] [INFO] [1690716658.785760351] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [WARN] [1690716658.786094187] [camera.camera]: re-enable the infra stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1690716658.786197250] [camera.camera]: re-enable the infra1 stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1690716658.786345386] [camera.camera]: re-enable the infra2 stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1690716658.794661608] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
Is this due to this change ?
Also, I left a comment about the parameters names.
Hi @SamerKhshiboun , This will happen if the default param set by RS ROS2 wrapper is different from the value set during run/launch.

It occurs not only for the new params, also for old params like "rgb_camera.profile" & "depth_module.profile".

For example - In D455 model:

For Infra0 stream, there is no default profile. So, ROS2 wrapper set the format to 'UYVY' (first found).
- But, rs_launch.py sets it to RGB8 format
- Thus warning message from callback function

SamerKhshiboun · 2023-07-31T07:05:13Z

Arun, I tried testing this PR behavior. Two things I noticed: on every new run/launch of ros2 node, I'm getting this:
[realsense2_camera_node-1] [INFO] [1690716658.785760351] [camera.camera]: Set ROS param depth_module.profile to default: 848x480x30
[realsense2_camera_node-1] [WARN] [1690716658.786094187] [camera.camera]: re-enable the infra stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1690716658.786197250] [camera.camera]: re-enable the infra1 stream for the change to take effect.
[realsense2_camera_node-1] [WARN] [1690716658.786345386] [camera.camera]: re-enable the infra2 stream for the change to take effect.
[realsense2_camera_node-1] [INFO] [1690716658.794661608] [camera.camera]: Set ROS param rgb_camera.profile to default: 1280x720x30
Is this due to this change ?
Also, I left a comment about the parameters names.
Hi @SamerKhshiboun , This will happen if the default param set by RS ROS2 wrapper is different from the value set during run/launch.
It occurs not only for the new params, also for old params like "rgb_camera.profile" & "depth_module.profile".
For example - In D455 model:

For Infra0 stream, there is no default profile. So, ROS2 wrapper set the format to 'UYVY' (first found).

But, rs_launch.py sets it to RGB8 format

Thus warning message from callback function

I understand this, so, in this case, the best thing I can think about is, to define 3 parameters for infra, as default formats
for infra1 and infra2 --> Y8
for infra0 rgb
so, dont take the first found, but takes these if not found.

SamerKhshiboun · 2023-07-31T10:55:33Z

LGTM

Arun-Prasad-V and others added 4 commits July 10, 2023 18:45

Exposing stream_format params to user

82d7730

Validate the user's input stream_format

068f0c6

Warn user if the selected profile cannot be opened

da410fb

Merge branch 'IntelRealSense:ros2-development' into expose_stream_for…

5aa03f4

…mats

Arun-Prasad-V marked this pull request as ready for review July 19, 2023 07:30

Arun-Prasad-V commented Jul 19, 2023

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Added stream_format param descriptors

0325781

Arun-Prasad-V marked this pull request as draft July 25, 2023 15:51

Arun-Prasad-V marked this pull request as ready for review July 27, 2023 10:09

Arun-Prasad-V and others added 2 commits July 27, 2023 21:57

Query default stream_format from LRS

1c6199d

Merge branch 'IntelRealSense:ros2-development' into expose_stream_for…

ae6ac8a

…mats

SamerKhshiboun added the enhancement label Jul 30, 2023

SamerKhshiboun reviewed Jul 30, 2023

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Arun-Prasad-V closed this Jul 31, 2023

Arun-Prasad-V reopened this Jul 31, 2023

Arun-Prasad-V closed this Jul 31, 2023

Arun-Prasad-V reopened this Jul 31, 2023

Arun-Prasad-V requested a review from SamerKhshiboun July 31, 2023 10:27

SamerKhshiboun approved these changes Jul 31, 2023

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SamerKhshiboun merged commit 6a2a0fc into IntelRealSense:ros2-development Jul 31, 2023
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Arun-Prasad-V added 3 commits July 31, 2023 19:45

Updated new stream format params names

4af70f8

Updated function name

189918a

Hardcode stream format if there is no default profile

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Exposing stream_format params to user #2811

Exposing stream_format params to user #2811

Arun-Prasad-V commented Jul 12, 2023 •

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SamerKhshiboun commented Jul 31, 2023

Exposing stream_format params to user #2811

Exposing stream_format params to user #2811

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