diff --git a/debian/changelog b/debian/changelog new file mode 100644 index 00000000..12d36726 --- /dev/null +++ b/debian/changelog @@ -0,0 +1,80 @@ +ros-foxy-realsense2-camera (4.51.1-1focal) focal; urgency=high + + * Fix crash when activating IMU & aligned depth together + * Fix rosbag device loading by preventing set_option to HDR/Gain/Exposure + * Support ROS2 Humble + * Publish real frame rate of realsense camera node topics/publishers + * No need to start/stop sensors for align depth changes + * Fix colorizer filter which returns null reference ptr + * Fix align_depth enable/disable + * Add colorizer.enable to rs_launch.py + * Add copyright and license to all ROS2-beta source files + * Fix CUDA suffix for pointcloud and align_depth topics + * Add ROS build farm pre-release to ci + * Contributors: Eran, NirAz, SamerKhshiboun + + -- LibRealSense ROS Team Mon, 12 Sep 2022 21:00:00 -0000 + +ros-foxy-realsense2-camera (4.0.4-1focal) focal; urgency=high + + * fix required packages for building debians for ros2-beta branch + * Contributors: NirAz + + -- LibRealSense ROS Team Sat, 19 Mar 2022 22:00:00 -0000 + +ros-foxy-realsense2-camera (4.0.3-1focal) focal; urgency=high + + * Support intra-process zero-copy + * Update README + * Fix Galactic deprecated-declarations compilation warning + * Fix Eloquent compilation error + * Contributors: Eran, Nir-Az, SamerKhshiboun + + -- LibRealSense ROS Team Tue, 15 Mar 2022 22:00:00 -0000 + +ros-foxy-realsense2-camera (4.0.2-1focal) focal; urgency=high + + * version 4.4.0 changed to 4.0.0 in CHANGELOG + * add frequency monitoring to /diagnostics topic. + * fix topic_hz.py to recognize message type from topic name. (Naive) + * move diagnostic updater for stream frequencies into the RosSensor class. + * add frequency monitoring to /diagnostics topic. + * fix galactic issue with undeclaring parameters + * fix to support Rolling. + * fix dynamic_params syntax. + * fix issue with Galactic parameters set by default to static which prevents them from being undeclared. + * Contributors: Haowei Wen, doronhi, remibettan + + -- Doron Hirshberg Wed, 23 Feb 2022 22:00:00 -0000 + +ros-foxy-realsense2-camera (4.0.1-1focal) focal; urgency=high + + * fix reset issue when multiple devices are connected + * fix /rosout issue + * fix PID for D405 device + * fix bug: frame_id is based on camera_name + * unite_imu_method is now changeable in runtime. + * fix motion module default values. + * add missing extrinsics topics + * fix crash when camera disconnects. + * fix header timestamp for metadata messages. + * Contributors: nomumu, JamesChooWK, benlev, doronhi + + -- Doron Hirshberg Mon, 31 Jan 2022 22:00:00 -0000 + +ros-foxy-realsense2-camera (4.0.0-1focal) focal; urgency=high + + * changed parameters: + - "stereo_module", "l500_depth_sensor" are replaced by "depth_module" + - for video streams: .profile replaces _width, _height, _fps + - removed paramets _frame_id, _optical_frame_id. frame_ids are defined by camera_name + - "filters" is removed. All filters (or post-processing blocks) are enabled/disabled using ".enable" + - "align_depth" is replaced with "align_depth.enable" + - "allow_no_texture_points", "ordered_pc" replaced by "pointcloud.allow_no_texture_points", "pointcloud.ordered_pc" + - "pointcloud_texture_stream", "pointcloud_texture_index" are replaced by "pointcloud.stream_filter", "pointcloud.stream_index_filter" + * Allow enable/disable of sensors in runtime. + * Allow enable/disable of filters in runtime. + + -- Doron Hirshberg Tue, 16 Nov 2021 22:00:00 -0000 + + diff --git a/debian/changelog.em b/debian/changelog.em deleted file mode 100644 index 35859090..00000000 --- a/debian/changelog.em +++ /dev/null @@ -1,7 +0,0 @@ -@[for change_version, change_date, changelog, main_name, main_email in changelogs]@(Package) (@(change_version)@(DebianInc)@(Distribution)) @(Distribution); urgency=high - -@(changelog) - - -- @(main_name) <@(main_email)> @(change_date) - -@[end for] diff --git a/debian/compat b/debian/compat new file mode 100644 index 00000000..ec635144 --- /dev/null +++ b/debian/compat @@ -0,0 +1 @@ +9 diff --git a/debian/compat.em b/debian/compat.em deleted file mode 100644 index 7a87216d..00000000 --- a/debian/compat.em +++ /dev/null @@ -1 +0,0 @@ -@(debhelper_version) diff --git a/debian/control b/debian/control new file mode 100644 index 00000000..7838b681 --- /dev/null +++ b/debian/control @@ -0,0 +1,12 @@ +Source: ros-foxy-realsense2-camera +Section: misc +Priority: optional +Maintainer: LibRealSense ROS Team +Build-Depends: debhelper (>= 9.0.0), libeigen3-dev, ros-foxy-ament-cmake, ros-foxy-builtin-interfaces, ros-foxy-cv-bridge, ros-foxy-diagnostic-updater, ros-foxy-geometry-msgs, ros-foxy-image-transport, ros-foxy-librealsense2, ros-foxy-nav-msgs, ros-foxy-rclcpp, ros-foxy-rclcpp-components, ros-foxy-realsense2-camera-msgs, ros-foxy-ros-environment, ros-foxy-sensor-msgs, ros-foxy-std-msgs, ros-foxy-tf2, ros-foxy-tf2-ros, ros-foxy-ros-workspace +Homepage: http://www.ros.org/wiki/RealSense +Standards-Version: 3.9.2 + +Package: ros-foxy-realsense2-camera +Architecture: any +Depends: ${shlibs:Depends}, ${misc:Depends}, libeigen3-dev, ros-foxy-builtin-interfaces, ros-foxy-cv-bridge, ros-foxy-diagnostic-updater, ros-foxy-geometry-msgs, ros-foxy-image-transport, ros-foxy-launch-ros, ros-foxy-librealsense2, ros-foxy-nav-msgs, ros-foxy-rclcpp, ros-foxy-rclcpp-components, ros-foxy-realsense2-camera-msgs, ros-foxy-sensor-msgs, ros-foxy-std-msgs, ros-foxy-tf2, ros-foxy-tf2-ros, ros-foxy-ros-workspace +Description: RealSense camera package allowing access to Intel T265 Tracking module and SR300 and D400 3D cameras diff --git a/debian/control.em b/debian/control.em deleted file mode 100644 index 6d7b65c3..00000000 --- a/debian/control.em +++ /dev/null @@ -1,14 +0,0 @@ -Source: @(Package) -Section: misc -Priority: optional -Maintainer: @(Maintainer) -Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends)) -Homepage: @(Homepage) -Standards-Version: 3.9.2 - -Package: @(Package) -Architecture: any -Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends)) -@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@ -@[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@ -Description: @(Description) diff --git a/debian/copyright.em b/debian/copyright similarity index 50% rename from debian/copyright.em rename to debian/copyright index bc82fd5d..4157f485 100644 --- a/debian/copyright.em +++ b/debian/copyright @@ -1,11 +1,8 @@ Format: Bloom subset of https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/ -Upstream-Name: @(Name) -@[if BugTracker]Upstream-Contact: @(BugTracker)@\n@[end if]@ -@[if Source]Source: @(Source)@\n@[end if]@ -@[for License, Text in Licenses]@ +Upstream-Name: realsense2_camera +Upstream-Contact: https://github.com/intel-ros/realsense/issues Files: See file headers in repository for details Copyright: See package copyright in source code for details -License: @(License) - @(Text) -@[end for]@ +License: Apache License 2.0 + See repository for full license text diff --git a/debian/gbp.conf b/debian/gbp.conf new file mode 100644 index 00000000..628a04c1 --- /dev/null +++ b/debian/gbp.conf @@ -0,0 +1,3 @@ +[git-buildpackage] +upstream-tag=release/foxy/realsense2_camera/4.51.1-1 +upstream-tree=tag diff --git a/debian/gbp.conf.em b/debian/gbp.conf.em deleted file mode 100644 index ad24a164..00000000 --- a/debian/gbp.conf.em +++ /dev/null @@ -1,3 +0,0 @@ -[git-buildpackage] -upstream-tag=@(release_tag) -upstream-tree=tag diff --git a/debian/rules.em b/debian/rules similarity index 72% rename from debian/rules.em rename to debian/rules index 2ab7b14a..c514f6fc 100755 --- a/debian/rules.em +++ b/debian/rules @@ -13,7 +13,7 @@ export DH_VERBOSE=1 # https://code.ros.org/trac/ros/ticket/2977 # https://code.ros.org/trac/ros/ticket/3842 export LDFLAGS= -export PKG_CONFIG_PATH=@(InstallationPrefix)/lib/pkgconfig +export PKG_CONFIG_PATH=/opt/ros/foxy/lib/pkgconfig # Explicitly enable -DNDEBUG, see: # https://github.com/ros-infrastructure/bloom/issues/327 export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG @@ -24,24 +24,24 @@ endif DEB_HOST_GNU_TYPE ?= $(shell dpkg-architecture -qDEB_HOST_GNU_TYPE) %: - dh $@@ -v --buildsystem=cmake --builddirectory=.obj-$(DEB_HOST_GNU_TYPE) + dh $@ -v --buildsystem=cmake --builddirectory=.obj-$(DEB_HOST_GNU_TYPE) override_dh_auto_configure: # In case we're installing to a non-standard location, look for a setup.sh # in the install tree and source it. It will set things like # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. - if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \ + if [ -f "/opt/ros/foxy/setup.sh" ]; then . "/opt/ros/foxy/setup.sh"; fi && \ dh_auto_configure -- \ - -DCMAKE_INSTALL_PREFIX="@(InstallationPrefix)" \ - -DAMENT_PREFIX_PATH="@(InstallationPrefix)" \ - -DCMAKE_PREFIX_PATH="@(InstallationPrefix)" \ + -DCMAKE_INSTALL_PREFIX="/opt/ros/foxy" \ + -DAMENT_PREFIX_PATH="/opt/ros/foxy" \ + -DCMAKE_PREFIX_PATH="/opt/ros/foxy" \ $(BUILD_TESTING_ARG) override_dh_auto_build: # In case we're installing to a non-standard location, look for a setup.sh # in the install tree and source it. It will set things like # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. - if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \ + if [ -f "/opt/ros/foxy/setup.sh" ]; then . "/opt/ros/foxy/setup.sh"; fi && \ dh_auto_build override_dh_auto_test: @@ -49,19 +49,19 @@ override_dh_auto_test: # in the install tree and source it. It will set things like # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. echo -- Running tests. Even if one of them fails the build is not canceled. - if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \ + if [ -f "/opt/ros/foxy/setup.sh" ]; then . "/opt/ros/foxy/setup.sh"; fi && \ dh_auto_test || true override_dh_shlibdeps: # In case we're installing to a non-standard location, look for a setup.sh # in the install tree and source it. It will set things like # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. - if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \ - dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/ + if [ -f "/opt/ros/foxy/setup.sh" ]; then . "/opt/ros/foxy/setup.sh"; fi && \ + dh_shlibdeps -l$(CURDIR)/debian/ros-foxy-realsense2-camera//opt/ros/foxy/lib/ override_dh_auto_install: # In case we're installing to a non-standard location, look for a setup.sh # in the install tree and source it. It will set things like # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. - if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \ + if [ -f "/opt/ros/foxy/setup.sh" ]; then . "/opt/ros/foxy/setup.sh"; fi && \ dh_auto_install diff --git a/debian/source/format b/debian/source/format new file mode 100644 index 00000000..163aaf8d --- /dev/null +++ b/debian/source/format @@ -0,0 +1 @@ +3.0 (quilt) diff --git a/debian/source/format.em b/debian/source/format.em deleted file mode 100644 index 9666bf41..00000000 --- a/debian/source/format.em +++ /dev/null @@ -1 +0,0 @@ -3.0 (@(format)) diff --git a/debian/source/options.em b/debian/source/options similarity index 81% rename from debian/source/options.em rename to debian/source/options index 8c4c78b0..8bc9182a 100644 --- a/debian/source/options.em +++ b/debian/source/options @@ -1,6 +1,5 @@ -@[if format and format == 'quilt']@ # Automatically add upstream changes to the quilt overlay. # http://manpages.ubuntu.com/manpages/trusty/man1/dpkg-source.1.html # This supports reusing the orig.tar.gz for debian increments. auto-commit -@[end if] +