adapter ROS2 node & parameters #13715
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OhadMeir
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Jan 28, 2025
OhadMeir
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Jan 28, 2025
third-party/realdds/include/realdds/topics/ros2/parameter-events-msg.h
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OhadMeir
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OhadMeir
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OhadMeir
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OhadMeir
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OhadMeir
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This continues work done on the
native-rosbranch by Samer and myself, and brings it to a functioning state.The first 7 commits are from there, just rebased on top of development.
Each device is exposed on the
/ros_discovery_infotopic as a separate node.The nodes are named in a similar fashion as DDS topic-roots,
/realsense/<model>_<s/n>.You can use
rqt_reconfigureto see the nodes. The tool will list, describe, and get all parameters, and you can use it to also set them.The parameters themselves use names of
<stream>/<option-name>.Changes to option values are updated via the
/parameter_eventsROS2 topic. Notifications seem to be working.Additionally, each stream has a
<stream>/profileparameter that lets the use see the current active profile (as JSON) and change it.This is the only are where additional thought and investigation might be required inside the stream-sensor-bridge. But it's working well for the most part. I can describe some of the difficulties I had, but for now I decided it's good enough for PR as it's functional.
Testing was all manual.
ROS2 topics were added minus any type-objects.