update readme and changelog

Readme changlog update

CHANGELOG.rst

@@ -1,6 +1,12 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for ros2_intel_realsense
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.0.5 (2019-08-30)
+------------------
+* Support T265 and D435i
+* Support reconfigure parameters at runtime
+* Support the latest release(v2.26.0) of librealsense
+* Implement ROS2 realsense node as a component which can be loaded at runtime and adopt the advanced features in ROS2 dashing release, e.g. intra-process communication.
 
 2.0.3 (2018-12-11)
 ------------------

README.md

@@ -1,125 +1,180 @@
-# ROS2 Wrapper for Intel® RealSense™ Devices
-These are packages for using Intel RealSense cameras (D400 series) with ROS2.
+# ROS2 Package for Intel® RealSense™ Devices
+## Supported Devices
+* Intel® RealSense™ Camera D400-Series
+   - Intel® RealSense™ Depth Cameras D415, D435 and D435i
+* Intel® RealSense™ Tracking Camera T265
 
 ## Installation Instructions
 
-The following instructions were verified with ROS2 Dashing on **Ubutnu 18.04**.
+The following instructions were verified with ROS2 Dashing on Ubuntu 18.04.
 
-### Dependencies
-#### Install ROS2 packages [ros-dashing-desktop](https://index.ros.org/doc/ros2/Installation/Linux-Install-Debians/)
-  ```bash
-  sudo apt-get install ros-dashing-desktop
-  ```
-#### Install ROS2 dependences
+### Install Dependencies
+#### 1. Install ROS2 packages [ros-dashing-desktop](https://index.ros.org/doc/ros2/Installation/Linux-Install-Debians/)
+
+#### 2. Install ROS2 dependences
   Currently, we support librealsense master branch.
   ```bash
   sudo apt-get install ros-dashing-cv-bridge ros-dashing-librealsense2 ros-dashing-message-filters ros-dashing-image-transport
   ```
-  * [cv_bridge](https://github.com/ros-perception/vision_opencv/tree/ros2/cv_bridge)
   * [Intel® RealSense™ SDK 2.0](https://github.com/IntelRealSense/librealsense.git)
+  * [cv_bridge](https://github.com/ros-perception/vision_opencv/tree/ros2/cv_bridge)
   * [ros2_message_filters](https://github.com/ros2/message_filters)
   * [ros2 image_transport](https://github.com/ros-perception/image_common/tree/ros2)
 
-#### Install Other non-ROS debian packages
+#### 3. Install other non-ROS debian packages
   ```
   sudo apt-get install -y libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
   sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
   ```
-
+<!--
 ### Install ros2_intel_realsense binary packages
   ```
   sudo apt-get install ros-dashing-realsense-msgs ros-dashing-realsense-ros
   ```
-  The ros2_intel_realsense packages installation have been completed. You could jump to [Usage Instructions](https://github.com/intel/ros2_intel_realsense#usage-instructions) for executing, you could also install ros2_intel_realsense from source for more features. 
+  The ros2_intel_realsense packages installation have been completed. You could jump to [Usage Instructions](https://github.com/intel/ros2_intel_realsense#usage-instructions) for executing, you could also install ros2_intel_realsense from source for more features. -->
 
-### Install ros2_intel_realsense from source
+### Install ros2_intel_realsense From Source
 ```bash
-#get code
+# fetch code
 mkdir -p ~/ros2_ws/src
 cd ~/ros2_ws/src
 git clone https://github.com/intel/ros2_intel_realsense.git
+cd ros2_intel_realsense
 git checkout refactor
-#build
-cd ~/ros2_ws
+# build
 source /opt/ros/dashing/setup.bash
+cd ~/ros2_ws
 colcon build --symlink-install
 ```
 
 ## Usage Instructions
 
-### Start the camera node
-To start the camera node in ROS2, plug in the camera, then type the following command:
+### Start Camera Node
+Obtain the serial number of your device
+```bash
+rs-enumerate-devices
+```
+Change the corresponding yaml file with the specific serial number, e.g. for [d435.yaml](https://github.com/intel/ros2_intel_realsense/blob/refactor/realsense_ros/config/d435.yaml#L3) in line3:
+>serial_no: <serial_number_of_your_device> # d435
+
 
+To start the camera node in ROS2, plug in the camera, then type the following command:
 ```bash
 source /opt/ros/dashing/setup.bash
 source ~/ros2_ws/install/local_setup.bash
 # To launch with "ros2 run", taking d435 for example:
-ros2 run realsense_examples one_cam __ns:=/d435 __params:=~/ros2_ws/src/ros2_intel_realsense/realsense_ros/config/d435.yaml
+cd ~/ros2_ws
+ros2 run realsense_node one_cam __params:=src/ros2_intel_realsense/realsense_ros/config/d435.yaml
 # Or launch multiple cameras at one time, taking d435 and t265 for example:
-ros2 run realsense_examples multi_cams __params:=~/ros2_ws/src/ros2_intel_realsense/realsense_ros/config/multi_cams.yaml
+ros2 run realsense_node multi_cams __params:=src/ros2_intel_realsense/realsense_ros/config/multi_cams.yaml
 ```
-This will stream all camera sensors and publish on the appropriate ROS2 topics. PointCloud2 is enabled by default, till we provide ROS2 python launch options.
+### Configure Parameters at Runtime
+Currently only support reconfigure parameters by `ros2 param` at runtime, e.g.  
 
-### Published Topics
+Enable camera stream
+```
+ros2 param list
+ros2 param get <node_name> color0.enabled
+ros2 param set <node_name> color0.enabled true
+```
+Enable aligned depth
+```
+ros2 param set <node_name> align_depth true
+```
+Enable pointcloud
+```
+ros2 param set <node_name> enable_pointcloud true
+```
+## Published Topics
 
-*  D435  
+*  D435 and D415
 
 [camera/color/image_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/color/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/infra1/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/infra1/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/infra2/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/infra2/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/depth/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/depth/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
+[camera/aligned_depth_to_color/image_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
+
+[camera/aligned_depth_to_color/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/pointcloud](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg)
 
 *  D435i  
 
 [camera/color/image_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/color/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/infra1/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/infra1/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/infra2/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/infra2/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/depth/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/depth/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
+[camera/aligned_depth_to_color/image_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
+
+[camera/aligned_depth_to_color/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/pointcloud](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/PointCloud2.msg)
 
 [camera/gyro/sample](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Imu.msg)
 
+[camera/gyro/imu_info](https://github.com/intel/ros2_intel_realsense/blob/refactor/realsense_msgs/msg/IMUInfo.msg)
+
 [camera/accel/sample](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Imu.msg)
 
+[camera/accel/imu_info](https://github.com/intel/ros2_intel_realsense/blob/refactor/realsense_msgs/msg/IMUInfo.msg)
+
 *  T265  
 
 [camera/fisheye1/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/fisheye1/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/fisheye2/image_rect_raw](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Image.msg)
 
+[camera/fisheye1/camera_info](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/CameraInfo.msg)
+
 [camera/gyro/sample](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Imu.msg)
 
+[camera/gyro/imu_info](https://github.com/intel/ros2_intel_realsense/blob/refactor/realsense_msgs/msg/IMUInfo.msg)
+
 [camera/accel/sample](https://github.com/ros2/common_interfaces/blob/master/sensor_msgs/msg/Imu.msg)
 
-[camera/odom/sample](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/Odometry.msg)
+[camera/accel/imu_info](https://github.com/intel/ros2_intel_realsense/blob/refactor/realsense_msgs/msg/IMUInfo.msg)
 
+[camera/odom/sample](https://github.com/ros2/common_interfaces/blob/master/nav_msgs/msg/Odometry.msg)
 
-### Dynamically Reconfigure Parameters
-Currently only support reconfigure parameters by `ros2 param` in runtime, e.g.
-```
-ros2 param list
-ros2 param get <node_name> color0.enabled
-ros2 param set <node_name> color0.enabled true
-```
 ## Known Issues
-* If you want to launch T265 and D435 camera at one time, you have to launch T265 first due to HW constraits which will be fixed in a future release of [librealsense](https://github.com/IntelRealSense/librealsense).
-* Don't support launch node via launch file due to [issue#316](https://github.com/ros2/launch/issues/316) of launch package.
+* If you want to launch T265 and D435 camera at one time, you have to launch T265 first due to HW constraits which will be fixed in a future release of [librealsense](https://github.com/IntelRealSense/librealsense).[issue#4672](https://github.com/IntelRealSense/librealsense/issues/4672)
+* Don't support launch node via launch file due to [issue#316](https://github.com/ros2/launch/issues/316) of launch package. This issue has been fixed, but the fixing will be in next ROS2 release.
 * Don't support dynamic reconfigure parameters by rqt_reconfigure due to [issue#53](https://github.com/ros-visualization/rqt_reconfigure/issues/53) of rqt_reconfigure, but you still can reconfigure parameters by `ros2 param`.
 * We support Ubuntu Linux Bionic Beaver 18.04 on 64-bit, but not support Mac OS X 10.12 (Sierra) and Windows 10 yet.
 
-## Todo
+## TODO
 * Add more tests
+* Merge sensor data from gyroscope and accelerator into one topic
 * Support diagnostics
 * Support reconfigure parameters by GUI
+* Support launch multiple nodes in a single launch file
 
 ## License
 Copyright 2019 Intel Corporation