Add OrbbecSDK ROS2 wrapper

[JafarAbdi]

No description provided.

[JafarAbdi]

I tagged a new release based on the latest main, hopefully it's not an issue

[traversaro]

Would it be possible to tag as 1.5.12.1 instead of 1.5.13 ? This would avoid any conflict with any future 1.5.13 release.

[JafarAbdi]

Let me give it a try, as far as I know it's not possible in ROS

[JafarAbdi]

I tried, it didn't work. Any ideas how to do it?

[JafarAbdi]

Maybe it make sense to wait till they merge the rosdistro PR?

[traversaro]

On macOS, there are a few compilation failures:

│ │ $BUILD_PREFIX/bin/arm64-apple-darwin20.0.0-clang++ -DDEFAULT_RMW_IMPLEMENTATION=rmw_fastrtps_cpp -DFASTCDR_DYN_LINK -Dorbbec_camera_EXPORTS -I$SRC_DIR/build/include -I$SRC_DIR/ros-jazzy-orbbec-camera/src/work/include -I$SRC_DIR/ros-jazzy-orbbec-camera/src/work/SDK/include -I$SRC_DIR/ros-jazzy-orbbec-camera/src/work/tools -isystem $PREFIX/include/ament_index_cpp -isystem $PREFIX/include/builtin_interfaces -isystem $PREFIX/include/python3.12 -isystem $PREFIX/lib/python3.12/site-packages/numpy/core/include -isystem $PREFIX/include/cv_bridge -isystem $PREFIX/include/camera_info_manager -isystem $PREFIX/include/image_transport -isystem $PREFIX/include/orbbec_camera_msgs -isystem $PREFIX/include/rclcpp -isystem $PREFIX/include/rclcpp_components -isystem $PREFIX/include/sensor_msgs -isystem $PREFIX/include/std_msgs -isystem $PREFIX/include/std_srvs -isystem $PREFIX/include/tf2 -isystem $PREFIX/include/tf2_eigen -isystem $PREFIX/include/tf2_msgs -isystem $PREFIX/include/tf2_ros -isystem $PREFIX/include/tf2_sensor_msgs -isystem $PREFIX/include/diagnostic_msgs -isystem $PREFIX/include/statistics_msgs -isystem $PREFIX/include/rcl_interfaces -isystem $PREFIX/include/opencv4 -isystem $PREFIX/include/rosidl_runtime_c -isystem $PREFIX/include/rcutils -isystem $PREFIX/include/rosidl_typesupport_interface -isystem $PREFIX/include/rosidl_runtime_cpp -isystem $PREFIX/include/rosidl_typesupport_fastrtps_cpp -isystem $PREFIX/include/rmw -isystem $PREFIX/include/rosidl_dynamic_typesupport -isystem $PREFIX/include/rosidl_typesupport_fastrtps_c -isystem $PREFIX/include/rosidl_typesupport_introspection_c -isystem $PREFIX/include/rosidl_typesupport_introspection_cpp -isystem $PREFIX/include/geometry_msgs -isystem $PREFIX/include/service_msgs -isystem $PREFIX/include/libstatistics_collector -isystem $PREFIX/include/rcl -isystem $PREFIX/include/rcl_logging_interface -isystem $PREFIX/include/rcl_yaml_param_parser -isystem $PREFIX/include/type_description_interfaces -isystem $PREFIX/include/rcpputils -isystem $PREFIX/include/rosgraph_msgs -isystem $PREFIX/include/rosidl_typesupport_cpp -isystem $PREFIX/include/rosidl_typesupport_c -isystem $PREFIX/include/tracetools -isystem $PREFIX/include/rclcpp_lifecycle -isystem $PREFIX/include/lifecycle_msgs -isystem $PREFIX/include/rcl_lifecycle -isystem $PREFIX/include/message_filters -isystem $PREFIX/include/class_loader -isystem $PREFIX/include/composition_interfaces -isystem $PREFIX/include/rclcpp_action -isystem $PREFIX/include/action_msgs -isystem $PREFIX/include/unique_identifier_msgs -isystem $PREFIX/include/rcl_action -isystem $PREFIX/include/eigen3 -ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros-jazzy-orbbec-camera-1.5.13 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -fPIC -O3 -O3 -DNDEBUG -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode_15.4.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk -mmacosx-version-min=10.15 -fPIC -Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds -MD -MT CMakeFiles/orbbec_camera.dir/src/ob_camera_node.cpp.o -MF CMakeFiles/orbbec_camera.dir/src/ob_camera_node.cpp.o.d -o CMakeFiles/orbbec_camera.dir/src/ob_camera_node.cpp.o -c $SRC_DIR/ros-jazzy-orbbec-camera/src/work/src/ob_camera_node.cpp
 │ │ $SRC_DIR/ros-jazzy-orbbec-camera/src/work/src/ob_camera_node.cpp:2669:21: error: unused variable 'steam_index' [-Werror,-Wunused-variable]
 │ │  2669 |   stream_index_pair steam_index(imu_data.stream_);
 │ │       |                     ^~~~~~~~~~~
 │ │ $SRC_DIR/ros-jazzy-orbbec-camera/src/work/src/ob_camera_node.cpp:89:40: error: ambiguous conversion for functional-style cast from 'const long' to 'rclcpp::ParameterValue'
 │ │    89 |                 ->setParam(param_name, rclcpp::ParameterValue(default_value),
 │ │       |                                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 │ │ $SRC_DIR/ros-jazzy-orbbec-camera/src/work/src/ob_camera_node.cpp:1233:3: note: in instantiation of function template specialization 'orbbec_camera::OBCameraNode::setAndGetNodeParameter<long>' requested here
 │ │  1233 |   setAndGetNodeParameter<long>(software_trigger_period, "software_trigger_period", 33);
 │ │       |   ^
 │ │ $PREFIX/include/rclcpp/rclcpp/parameter_value.hpp:83:12: note: candidate constructor
 │ │    83 |   explicit ParameterValue(const bool bool_value);
 │ │       |            ^
 │ │ $PREFIX/include/rclcpp/rclcpp/parameter_value.hpp:86:12: note: candidate constructor
 │ │    86 |   explicit ParameterValue(const int int_value);
 │ │       |            ^
 │ │ $PREFIX/include/rclcpp/rclcpp/parameter_value.hpp:89:12: note: candidate constructor
 │ │    89 |   explicit ParameterValue(const int64_t int_value);
 │ │       |            ^
 │ │ $PREFIX/include/rclcpp/rclcpp/parameter_value.hpp:92:12: note: candidate constructor
 │ │    92 |   explicit ParameterValue(const float double_value);
 │ │       |            ^
 │ │ $PREFIX/include/rclcpp/rclcpp/parameter_value.hpp:95:12: note: candidate constructor
 │ │    95 |   explicit ParameterValue(const double double_value);
 │ │       |            ^
 │ │ 2 errors generated.
 │ │ [6/26] Building CXX object CMakeFiles/orbbec_camera.dir/src/d2c_viewer.cpp.o

those are due to to the use of Werror in https://github.com/JafarAbdi/orbbec-release/blob/64ef7783fc867985b853d7c603580c64c64b45ad/CMakeLists.txt#L16, can you remove it with a patch? See RoboStack/ros-humble#346 that has exactly the same issue.

[traversaro]

@JafarAbdi thanks for the contribution!

Just to understand, do you plan to submit the package also to regular rosdistro and mantain the release repo? Is this related to ros/rosdistro#47308 ? Do you have any idea why the package.xml and the tags in https://github.com/orbbec/OrbbecSDK_ROS2 seem to have different versioning scheme ?

[traversaro]

On macOS, there are a few compilation failures:

Actually it seems that the sdk is publishing binary only for Linux? In that case, I would add the camera_orbbec in the if: linux section of the vinca file, and leave orbbec_description and orbbec_camera_msgs in the all section.

[JafarAbdi]

Just to understand, do you plan to submit the package also to regular rosdistro and mantain the release repo? Is this related to ros/rosdistro#47308 ?

Thanks for the review! I was going to open an issue in the main repo asking them to do a release or I'll do it myself. I wasn't aware of that PR, I think we need 2 release repos for v2 & v1

Do you have any idea why the package.xml and the tags in https://github.com/orbbec/OrbbecSDK_ROS2 seem to have different versioning scheme ?

I think it's because they didn't release it before

[JafarAbdi]

Just to understand, do you plan to submit the package also to regular rosdistro and mantain the release repo? Is this related to ros/rosdistro#47308 ?

Thanks for the review! I was going to open an issue in the main repo asking them to do a release or I'll do it myself. I wasn't aware of that PR, I think we need 2 release repos for v2 & v1

Looks like that one is an official release see orbbec/OrbbecSDK_ROS2#102

[Tobias-Fischer]

Happy to merge if @traversaro is happy

[traversaro]

Let's merge, it seems that several things are still happening upstream (see the renaming in https://github.com/ros/rosdistro/pull/47308/files) and we can probably handle those somehow here once thing stabilize.