Merge branch 'o3r/dev' into 'master'

Release 1.0.1

See merge request syntron/support/csr/ifm3d/ifm3d-ros!25

Author: lola-masson

CHANGELOG.rst

@@ -5,11 +5,19 @@ Changelog for package ifm3d-ros
 1.0
 ===
 
+1.0.1 
+-----
+
+* Removed dependency to OpenCV and PCL.
+* The RGB jpeg image is published in a compressed format.
+* Removed the god_bad pixel publisher and the XYZ publisher (use `cloud`` instead).
+* The `/cloud` topic is published as `sensor_msgs::PointCloud2` instead of `pcl::PointCloud<ifm3d::PointT>`
+
 1.0.0
 ------
 
-Braking changes:
-+ Restructure the ifm3d-ros package into independent subpackages. Please check your path declarations again, especially for the launch files and messages and services.
+Breaking changes:
+* Restructure the ifm3d-ros package into independent subpackages. Please check your path declarations again, especially for the launch files and messages and services.
 
 Changes between ifm3d_ros 0.6.x and 1.0.0:
 + Order of axis changed in 3D (cloud topic and extrinsic calibration parameters): This wrapper keeps the axis orientation as defined by the underlying API, ifm3d. Therefore, you may see a different axis order for the cloud message compared to older versions of the ifm3d and ifm cameras.
@@ -23,10 +31,10 @@ Changes between ifm3d_ros 0.6.x and 1.0.0:
 + Changed service dump: coverts from json to str for displaying the message
 
 added:
-+ Added pcic_port to the list of framegrabber arguments
+* Added pcic_port to the list of framegrabber arguments
 
 known limitations:
-+ This version of the ifm3d-ros package only works with the O3R camera platform.
+* This version of the ifm3d-ros package only works with the O3R camera platform.
 
 
 0.6

ifm3d-ros/package.xml

@@ -2,7 +2,7 @@
 <package format="2">
 
   <name>ifm3d-ros</name>
-  <version>1.0.0</version>
+  <version>1.0.1</version>
   <description>metapackage for the ifm3d-ros package group which interacts with the ifm 3D ToF Camera ROS package</description>
   <maintainer email="[email protected]">ifm CSR group</maintainer>
   <license>Apache 2</license>

ifm3d_ros_driver/CMakeLists.txt

@@ -4,14 +4,12 @@ project(ifm3d_ros_driver)
 find_package(ifm3d REQUIRED COMPONENTS
              camera
              framegrabber
-             image
+             stlimage
              )
 
 find_package(catkin REQUIRED COMPONENTS
              rospy
              image_transport
-             pcl_ros
-             cv_bridge
              nodelet
              roscpp
              sensor_msgs
@@ -51,7 +49,7 @@ target_link_libraries(ifm3d_ros
   ${catkin_LIBRARIES}
   ifm3d::camera
   ifm3d::framegrabber
-  ifm3d::image
+  ifm3d::stlimage
   )
 
 #############

ifm3d_ros_driver/README.md

@@ -37,11 +37,9 @@ For further information about the internal ROS nodelet infrastructure and how to
 | cloud | sensor_msgs/PointCloud2 | The point cloud data, i.e. X-, Y-, Z-coordinates. |
 | distance | sensor_msgs/Image | The radial distance image. |
 | raw_amplitude | sensor_msgs/Image | The raw (non normalized) amplitude image. |
-| good_bad_pixels | sensor_msgs/Image | The binary image representation of the confidence image. |
-| xyz_imaege | sensor_msgs/Image | A 3-channel image encoding of the point cloud. Each of the three image channels represents a spatial data plane encoding the x, y, z Cartesian values respectively. |
 | unit_vectors | sensor_msgs/Image | The rotated unit vectors. |
 | extrinsics | ifm3d/Extrinsics | The extrinsic calibration of the camera with respect to the camera optical frame. This 3D pose is encoded in mm and rad. |
-
+| rgb_image/compressed | sensor_msgs::CompressedImage | The RGB image in compressed format. |
 >Note: Some topics may have empty data fields. We are working on publishing data on all available topics, but have kept all previous topics active for the moment for legacy reasons.   
 
 ### Nodelet - subscribed Topics

ifm3d_ros_driver/include/ifm3d_ros_driver/camera_nodelet.h

@@ -17,7 +17,7 @@
 
 #include <ifm3d/camera/camera_base.h>
 #include <ifm3d/fg.h>
-#include <ifm3d/image.h>
+#include <ifm3d/stlimage.h>
 #include <ifm3d_ros_msgs/Config.h>
 #include <ifm3d_ros_msgs/Dump.h>
 #include <ifm3d_ros_msgs/Extrinsics.h>
@@ -39,7 +39,7 @@ class CameraNodelet : public nodelet::Nodelet
   //
   // Nodelet lifecycle functions
   //
-  virtual void onInit() override;
+  void onInit() override;
 
   //
   // ROS services
@@ -79,7 +79,7 @@ class CameraNodelet : public nodelet::Nodelet
 
   ifm3d::CameraBase::Ptr cam_;
   ifm3d::FrameGrabber::Ptr fg_;
-  ifm3d::ImageBuffer::Ptr im_;
+  ifm3d::StlImageBuffer::Ptr im_;
   std::mutex mutex_;
 
   ros::NodeHandle np_;
@@ -92,14 +92,12 @@ class CameraNodelet : public nodelet::Nodelet
   ros::Publisher uvec_pub_;
   ros::Publisher extrinsics_pub_;
   image_transport::Publisher distance_pub_;
-  // image_transport::Publisher distance_noise_pub_;
+  image_transport::Publisher distance_noise_pub_;
   image_transport::Publisher amplitude_pub_;
   image_transport::Publisher raw_amplitude_pub_;
   image_transport::Publisher conf_pub_;
-  image_transport::Publisher good_bad_pub_;
-  image_transport::Publisher xyz_image_pub_;
   image_transport::Publisher gray_image_pub_;
-  image_transport::Publisher rgb_image_pub_;
+  ros::Publisher rgb_image_pub_;
 
   //
   // Services we advertise

ifm3d_ros_driver/package.xml

@@ -2,7 +2,7 @@
 <package format="2">
 
   <name>ifm3d_ros_driver</name>
-  <version>0.7.0</version>
+  <version>1.0.1</version>
   <description>ifm 3D ToF Camera ROS main driver package</description>
   <maintainer email="[email protected]">ifm CSR group</maintainer>
   <license>Apache 2</license>
@@ -15,14 +15,13 @@
 
   <depend>rospy</depend>
   <depend>image_transport</depend>
-  <depend>pcl_ros</depend>
-  <depend>cv_bridge</depend>
   <depend>nodelet</depend>
   <depend>roscpp</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>ifm3d_ros_msgs</depend>
-  
+
+  <test_depend>cv_bridge</test_depend>
 
   <export>
     <nodelet plugin="${prefix}/nodelets.xml"/>