From d55fb8b0b21d8034283c6c4b989a1e85d5134714 Mon Sep 17 00:00:00 2001 From: Arun-Prasad-V Date: Thu, 5 Oct 2023 23:58:54 +0530 Subject: [PATCH] Removing aligned_depth_to_infra* support --- realsense2_camera/include/base_realsense_node.h | 1 - realsense2_camera/src/rs_node_setup.cpp | 2 +- realsense2_camera/src/tfs.cpp | 17 ----------------- 3 files changed, 1 insertion(+), 19 deletions(-) diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h index 34c5e8ebae..595148e118 100755 --- a/realsense2_camera/include/base_realsense_node.h +++ b/realsense2_camera/include/base_realsense_node.h @@ -62,7 +62,6 @@ using realsense2_camera_msgs::msg::RGBD; #define IMU_FRAME_ID (static_cast(std::ostringstream() << _camera_name << "_imu_frame")).str() #define IMU_OPTICAL_FRAME_ID (static_cast(std::ostringstream() << _camera_name << "_imu_optical_frame")).str() #define OPTICAL_FRAME_ID(sip) (static_cast(std::ostringstream() << _camera_name << "_" << STREAM_NAME(sip) << "_optical_frame")).str() -#define ALIGNED_DEPTH_TO_FRAME_ID(sip) (static_cast(std::ostringstream() << _camera_name << "_" << "aligned_depth_to_" << STREAM_NAME(sip) << "_frame")).str() namespace realsense2_camera { diff --git a/realsense2_camera/src/rs_node_setup.cpp b/realsense2_camera/src/rs_node_setup.cpp index d98157f6d9..c68c2e13ad 100755 --- a/realsense2_camera/src/rs_node_setup.cpp +++ b/realsense2_camera/src/rs_node_setup.cpp @@ -237,7 +237,7 @@ void BaseRealSenseNode::startPublishers(const std::vector& profi _info_publishers[sip] = _node.create_publisher(camera_info.str(), rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(info_qos), info_qos)); - if (_align_depth_filter->is_enabled() && (sip != DEPTH) && sip.second < 2) + if (_align_depth_filter->is_enabled() && (sip == COLOR)) { std::stringstream aligned_image_raw, aligned_camera_info; aligned_image_raw << "~/" << "aligned_depth_to_" << stream_name << "/image_raw"; diff --git a/realsense2_camera/src/tfs.cpp b/realsense2_camera/src/tfs.cpp index 8e6201761b..9b198ae388 100644 --- a/realsense2_camera/src/tfs.cpp +++ b/realsense2_camera/src/tfs.cpp @@ -190,15 +190,6 @@ void BaseRealSenseNode::calcAndAppendTransformMsgs(const rs2::stream_profile& pr // We are using zero translation vector here, since no translation between frame and optical_frame, but only rotation append_static_tf_msg(transform_ts_, zero_trans, quaternion_optical, FRAME_ID(sip), OPTICAL_FRAME_ID(sip)); - if (profile.is() && - profile.stream_type() != RS2_STREAM_DEPTH && - profile.stream_index() == 1) - { - append_static_tf_msg(transform_ts_, trans, Q, _base_frame_id, ALIGNED_DEPTH_TO_FRAME_ID(sip)); - append_static_tf_msg(transform_ts_, zero_trans, quaternion_optical, - ALIGNED_DEPTH_TO_FRAME_ID(sip), OPTICAL_FRAME_ID(sip)); - } - if ((_imu_sync_method > imu_sync_method::NONE) && (profile.stream_type() == RS2_STREAM_GYRO)) { append_static_tf_msg(transform_ts_, zero_trans, zero_rot_quaternions, FRAME_ID(sip), IMU_FRAME_ID); @@ -213,14 +204,6 @@ void BaseRealSenseNode::eraseTransformMsgs(const stream_index_pair& sip, const r erase_static_tf_msg(_base_frame_id, FRAME_ID(sip)); erase_static_tf_msg(FRAME_ID(sip), OPTICAL_FRAME_ID(sip)); - if (profile.is() && - profile.stream_type() != RS2_STREAM_DEPTH && - profile.stream_index() == 1) - { - erase_static_tf_msg(_base_frame_id, ALIGNED_DEPTH_TO_FRAME_ID(sip)); - erase_static_tf_msg(ALIGNED_DEPTH_TO_FRAME_ID(sip), OPTICAL_FRAME_ID(sip)); - } - if ((_imu_sync_method > imu_sync_method::NONE) && (profile.stream_type() == RS2_STREAM_GYRO)) { erase_static_tf_msg(FRAME_ID(sip), IMU_FRAME_ID);