Program Listing for File as2_realsense_interface.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
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#ifndef AS2_REALSENSE_INTERFACE__AS2_REALSENSE_INTERFACE_HPP_
#define AS2_REALSENSE_INTERFACE__AS2_REALSENSE_INTERFACE_HPP_

#include <tf2_ros/static_transform_broadcaster.h>

#include <string>
#include <vector>
#include <memory>

#include <rclcpp/rclcpp.hpp>
#include "as2_core/node.hpp"
#include "as2_core/sensor.hpp"
#include "as2_core/utils/tf_utils.hpp"

#include <librealsense2/rs.hpp>

#include <geometry_msgs/msg/transform_stamped.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include "nav_msgs/msg/odometry.hpp"
#include "sensor_msgs/msg/imu.hpp"

namespace real_sense_interface
{

class RealsenseInterface : public as2::Node
{
public:
  explicit RealsenseInterface(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  void stop();

  void run();

private:
  std::string realsense_name_;

  bool verbose_;
  bool device_not_found_;
  bool imu_available_;
  bool depth_available_;
  bool color_available_;
  bool fisheye_available_;
  bool pose_available_;

  // Sensor comm
  std::string serial_;
  rs2::pipeline pipe_;
  // Sensor measurement
  std::shared_ptr<as2::sensors::Sensor<nav_msgs::msg::Odometry>> pose_sensor_;
  std::shared_ptr<as2::sensors::Imu> imu_sensor_;
  std::shared_ptr<as2::sensors::Camera> color_sensor_;
  std::shared_ptr<rs2::motion_frame> accel_frame_;
  std::shared_ptr<rs2::motion_frame> gyro_frame_;
  std::shared_ptr<rs2::pose_frame> pose_frame_;
  std::shared_ptr<rs2::video_frame> color_frame_;

  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_static_broadcaster_;

  std::vector<geometry_msgs::msg::TransformStamped> tf2_fix_transforms_;
  geometry_msgs::msg::TransformStamped rs_odom2rs_link_tf_;

  std::string base_link_frame_;
  std::string odom_frame_;
  std::string realsense_link_frame_;

  std::string color_sensor_frame_;
  std::string imu_sensor_frame_;

  tf2::Transform base_link_to_realsense_link_;
  tf2::Transform base_link_to_realsense_pose_odom_;
  tf2::Transform realsense_link_to_realsense_pose_;
  tf2::Transform realsense_link_to_realsense_pose_odom_;
  tf2::Transform realsense_pose_;

  bool setup();

  void setupCamera(
    const std::shared_ptr<as2::sensors::Camera> & _camera,
    const rs2_stream _rs2_stream,
    const std::string _encoding,
    const std::string _camera_model);

  void runImu(const rs2::motion_frame & accel_frame, const rs2::motion_frame & gyro_frame);

  void runPose(const rs2::pose_frame & pose_frame);
  void runOdom(const rs2::pose_frame & pose_frame);
  void runColor(const rs2::video_frame & color_frame);

  bool identifyDevice();
  bool identifySensors(const rs2::device & dev);
  void setStaticTransform(
    const std::string _rs_link,
    const std::string _ref_frame,
    const std::array<double, 3> & _t,
    const std::array<double, 3> & _r);

  void setupPoseTransforms(
    const std::array<double, 3> & device_t,
    const std::array<double, 3> & device_r);
};

}  // namespace real_sense_interface

#endif  // AS2_REALSENSE_INTERFACE__AS2_REALSENSE_INTERFACE_HPP_