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Removing aligned_depth_to_infra* support #2895

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Removing aligned_depth_to_infra* support #2895

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1 change: 0 additions & 1 deletion realsense2_camera/include/base_realsense_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,6 @@ using realsense2_camera_msgs::msg::RGBD;
#define IMU_FRAME_ID (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_imu_frame")).str()
#define IMU_OPTICAL_FRAME_ID (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_imu_optical_frame")).str()
#define OPTICAL_FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_" << STREAM_NAME(sip) << "_optical_frame")).str()
#define ALIGNED_DEPTH_TO_FRAME_ID(sip) (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_" << "aligned_depth_to_" << STREAM_NAME(sip) << "_frame")).str()

namespace realsense2_camera
{
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2 changes: 1 addition & 1 deletion realsense2_camera/src/rs_node_setup.cpp
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Expand Up @@ -237,7 +237,7 @@ void BaseRealSenseNode::startPublishers(const std::vector<stream_profile>& profi
_info_publishers[sip] = _node.create_publisher<sensor_msgs::msg::CameraInfo>(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";
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17 changes: 0 additions & 17 deletions realsense2_camera/src/tfs.cpp
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Expand Up @@ -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<rs2::video_stream_profile>() &&
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);
Expand All @@ -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<rs2::video_stream_profile>() &&
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);
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