Merge branch 'humble' into 'master'

Humble release for ifm3d version 1.2.6

See merge request syntron/support/csr/ifm3d/ifm3d-ros2!26

Author: desengph

.gitignore

@@ -0,0 +1,67 @@
+# vscode
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+
+# ROS
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

.vscode/launch.json

@@ -2,9 +2,67 @@
 Changelog for package ifm3d-ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1
+===
+
+1.1.0
+------------------
+* Update for compatibility with O3R FW >= 1.0.14 and ifm3d >= 1.2.6
+  * Using ifm3d::O3R instead of ifm3d::Device to access camera
+  * Added `buffer_id_list` param to define which data to get from the device and consequently which topics to publish. Maps to ifm3d `buffer_id`.
+
+* Remove the need to use cyclonedds: TODO: verification
+
+* Remove dependency to Boost library
+
+* Include Dockerfile and helper scripts:
+  * Dockerfile for building the ROS2 node inside a Docker container
+  * Helper build and launch scripts for ROS Docker images
+  * Adds docker-compose example files for launching the ROS node on a O3R edge device: VPU
+
+* Moved Publishers into node namespace: This matches the ifm3d-ros2 node version's naming (<= 1.0.x).
+
+* Switch to a new camera.launch.py launch file (instead of camera_managed and camera_standalone): launches and activates a single camera node
+  * focusses on configurability
+  * camera_default_parameters.yaml contains only default params
+  * Add option for visualization to launch file: If visualization is true, RViz2 with the config file from etc is opened
+  * Formatting of node names improved
+* old launch files are marked as deprecated and will be removed with next release: please migrate your launch files to the new structure
+
+* Switching json handling to ifm3d::json
+
+* Reduce logging level for continuous outputs.
+
+* Added topics:
+  * diagnostics (published to global /diagnostic topic),
+  * camera_info,
+  * TOF_INFO,
+  * RGB_INFO,
+  * extrinsics
+
+* Added parameters:
+  * log_level,
+  * tf related parameters (see parameters doc for more details),
+  * buffer_id_list,
+  * diag_mode
+
+
+
 1.0
 ===
-1.0.2 (unreleased)
+1.0.4 (unreleased)
+------------------
+* Updating to underlying ifm3d API version 1.1.1
+* Name change for TOF_INFO and RGB_INFO buffer.
+* Added Error, AsynError and AsyncNotification callbacks.
+
+1.0.3 (unreleased)
+------------------
+* Updating to underlying ifm3d API version 1.0.1
+* Switching to using buffer_ids instead of schemas to determine data types.
+* Introducing buffer_id_utils.hpp for buffer_id handling.
+
+1.0.2
 ------------------
 * Fixed tf chain in launchfiles
 

.vscode/settings.json

@@ -11,6 +11,8 @@ endif()
 
 set(IFM3D_ROS2_DEPS
   builtin_interfaces
+  diagnostic_msgs
+  geometry_msgs
   lifecycle_msgs
   rclcpp
   rclcpp_components
@@ -20,12 +22,12 @@ set(IFM3D_ROS2_DEPS
   rosidl_default_generators
   sensor_msgs
   std_msgs
+  tf2_ros
   )
 
-find_package(ifm3d 0.93.0 CONFIG REQUIRED COMPONENTS
-  camera
+find_package(ifm3d 1.2.6 CONFIG REQUIRED COMPONENTS
+  device
   framegrabber
-  stlimage
   )
 find_package(ament_cmake_auto REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
@@ -34,6 +36,10 @@ ament_auto_find_build_dependencies(REQUIRED ${IFM3D_ROS2_DEPS})
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Extrinsics.msg"
+  "msg/Intrinsics.msg"
+  "msg/InverseIntrinsics.msg"
+  "msg/RGBInfo.msg"
+  "msg/TOFInfo.msg"
   "srv/Dump.srv"
   "srv/Config.srv"
   "srv/Softoff.srv"
@@ -52,9 +58,8 @@ include_directories(include)
 #
 add_library(ifm3d_ros2_camera_node SHARED src/lib/camera_node.cpp)
 target_link_libraries(ifm3d_ros2_camera_node
-  ifm3d::camera
+  ifm3d::device
   ifm3d::framegrabber
-  ifm3d::stlimage
   )
 ament_target_dependencies(ifm3d_ros2_camera_node ${IFM3D_ROS2_DEPS})
 rclcpp_components_register_nodes(