Skip to content
Permalink

Comparing changes

Choose two branches to see what’s changed or to start a new pull request. If you need to, you can also or learn more about diff comparisons.

Open a pull request

Create a new pull request by comparing changes across two branches. If you need to, you can also . Learn more about diff comparisons here.
base repository: carnegierobotics/multisense_ros
Failed to load repositories. Confirm that selected base ref is valid, then try again.
Loading
base: 4.0.4
Choose a base ref
...
head repository: carnegierobotics/multisense_ros
Failed to load repositories. Confirm that selected head ref is valid, then try again.
Loading
compare: master
Choose a head ref
Loading
Showing with 6,228 additions and 26,540 deletions.
  1. +36 −0 .github/workflows/build.yml
  2. +2 −0 .gitignore
  3. +3 −0 .gitmodules
  4. +25 −0 Dockerfile
  5. +31 −2 README.md
  6. +0 −4 build_config/catkin/multisense/CMakeLists.txt_
  7. +0 −25 build_config/catkin/multisense/package.xml_
  8. +0 −27 build_config/catkin/multisense_bringup/CMakeLists.txt_
  9. +0 −19 build_config/catkin/multisense_bringup/package.xml_
  10. +0 −371 build_config/catkin/multisense_bringup/rviz_config.rviz_
  11. +0 −21 build_config/catkin/multisense_cal_check/CMakeLists.txt_
  12. +0 −18 build_config/catkin/multisense_cal_check/package.xml_
  13. +0 −29 build_config/catkin/multisense_description/CMakeLists.txt_
  14. +0 −14 build_config/catkin/multisense_description/package.xml_
  15. +0 −54 build_config/catkin/multisense_lib/CMakeLists.txt_
  16. +0 −19 build_config/catkin/multisense_lib/package.xml_
  17. +0 −136 build_config/catkin/multisense_ros/CMakeLists.txt_
  18. +0 −55 build_config/catkin/multisense_ros/package.xml_
  19. +0 −30 build_config/rosbuild/multisense_bringup/CMakeLists.txt_
  20. +0 −1 build_config/rosbuild/multisense_bringup/Makefile_
  21. +0 −12 build_config/rosbuild/multisense_bringup/manifest.xml_
  22. +0 −270 build_config/rosbuild/multisense_bringup/rviz_config.vcg_
  23. +0 −30 build_config/rosbuild/multisense_cal_check/CMakeLists.txt_
  24. +0 −12 build_config/rosbuild/multisense_cal_check/manifest.xml_
  25. +0 −10 build_config/rosbuild/multisense_description/CMakeLists.txt_
  26. +0 −3 build_config/rosbuild/multisense_description/manifest.xml_
  27. +0 −19 build_config/rosbuild/multisense_lib/Makefile_
  28. +0 −14 build_config/rosbuild/multisense_lib/manifest.xml_
  29. +0 −59 build_config/rosbuild/multisense_ros/CMakeLists.txt_
  30. +0 −1 build_config/rosbuild/multisense_ros/Makefile_
  31. +0 −26 build_config/rosbuild/multisense_ros/manifest.xml_.default
  32. +0 −25 build_config/rosbuild/multisense_ros/manifest.xml_.indigo
  33. +0 −19 build_config/rosbuild/stack.xml_
  34. +0 −120 config.sh
  35. +3 −0 multisense/CHANGELOG.rst
  36. +1 −1 multisense/package.xml
  37. +5 −0 multisense_bringup/CHANGELOG.rst
  38. +1 −0 multisense_bringup/CMakeLists.txt
  39. +42 −12 multisense_bringup/multisense.launch
  40. +3 −1 multisense_bringup/package.xml
  41. +166 −0 multisense_bringup/remote_head.launch
  42. +6 −6 multisense_bringup/rviz_config.rviz
  43. +3 −0 multisense_cal_check/CHANGELOG.rst
  44. +1 −1 multisense_cal_check/package.xml
  45. +3 −0 multisense_description/CHANGELOG.rst
  46. +11 −2 multisense_description/meshes/CMakeLists.txt
  47. BIN multisense_description/meshes/multisense_ks21.STL
  48. BIN multisense_description/meshes/multisense_ks21i.STL
  49. +86 −0 multisense_description/meshes/multisense_remote_head_monocam.STL
  50. +86 −0 multisense_description/meshes/multisense_remote_head_stereo.STL
  51. +86 −0 multisense_description/meshes/multisense_remote_head_vpb.STL
  52. BIN multisense_description/meshes/multisense_s21b.STL
  53. BIN multisense_description/meshes/multisense_s27.STL
  54. BIN multisense_description/meshes/multisense_s30.STL
  55. +1 −1 multisense_description/package.xml
  56. +5 −5 multisense_description/urdf/multisenseBCAM/multisenseBCAM.urdf.xacro
  57. +37 −0 multisense_description/urdf/multisenseKS21/multisenseKS21.urdf.xacro
  58. +6 −0 multisense_description/urdf/multisenseKS21/standalone.urdf.xacro
  59. +37 −0 multisense_description/urdf/multisenseKS21i/multisenseKS21i.urdf.xacro
  60. +6 −0 multisense_description/urdf/multisenseKS21i/standalone.urdf.xacro
  61. +5 −29 multisense_description/urdf/multisenseS21/multisenseS21.urdf.xacro
  62. +58 −0 multisense_description/urdf/multisenseS21B/multisenseS21B.urdf.xacro
  63. +6 −0 multisense_description/urdf/multisenseS21B/standalone.urdf.xacro
  64. +29 −0 multisense_description/urdf/multisenseS27/multisenseS27.urdf.xacro
  65. +6 −0 multisense_description/urdf/multisenseS27/standalone.urdf.xacro
  66. +37 −0 multisense_description/urdf/multisenseS30/multisenseS30.urdf.xacro
  67. +6 −0 multisense_description/urdf/multisenseS30/standalone.urdf.xacro
  68. +5 −28 multisense_description/urdf/multisenseS7/multisenseS7.urdf.xacro
  69. +0 −18 multisense_description/urdf/multisenseS7S/importable.urdf.xacro
  70. +5 −28 multisense_description/urdf/multisenseS7S/multisenseS7S.urdf.xacro
  71. +0 −18 multisense_description/urdf/multisenseSL/importable.urdf.xacro
  72. +9 −42 multisense_description/urdf/multisenseSL/multisenseSL.urdf.xacro
  73. +3 −3 multisense_description/urdf/{multisenseS7 → multisenseremote_head_monocam}/importable.urdf.xacro
  74. +68 −0 multisense_description/urdf/multisenseremote_head_monocam/multisense_remote_head_monocam.urdf.xacro
  75. +6 −0 multisense_description/urdf/multisenseremote_head_monocam/standalone.urdf.xacro
  76. +3 −3 multisense_description/urdf/{multisenseS21 → multisenseremote_head_stereo}/importable.urdf.xacro
  77. +68 −0 multisense_description/urdf/multisenseremote_head_stereo/multisense_remote_head_stereo.urdf.xacro
  78. +6 −0 multisense_description/urdf/multisenseremote_head_stereo/standalone.urdf.xacro
  79. +3 −3 multisense_description/urdf/{multisenseBCAM → multisenseremote_head_vpb}/importable.urdf.xacro
  80. +68 −0 multisense_description/urdf/multisenseremote_head_vpb/multisense_remote_head_vpb.urdf.xacro
  81. +6 −0 multisense_description/urdf/multisenseremote_head_vpb/standalone.urdf.xacro
  82. +3 −0 multisense_lib/CHANGELOG.rst
  83. +10 −2 multisense_lib/CMakeLists.txt
  84. +1 −1 multisense_lib/package.xml
  85. +1 −0 multisense_lib/sensor_api
  86. +0 −74 multisense_lib/sensor_api/CMakeLists.txt
  87. +0 −27 multisense_lib/sensor_api/LICENSE.TXT
  88. +0 −106 multisense_lib/sensor_api/README.md
  89. +0 −1 multisense_lib/sensor_api/VERSION.TXT
  90. +0 −2,357 multisense_lib/sensor_api/docs/Doxyfile
  91. BIN multisense_lib/sensor_api/docs/images/multisense.png
  92. +0 −10 multisense_lib/sensor_api/source/CMakeLists.txt
  93. +0 −72 multisense_lib/sensor_api/source/LibMultiSense/CMakeLists.txt
  94. +0 −1,074 multisense_lib/sensor_api/source/LibMultiSense/MultiSenseChannel.hh
  95. +0 −2,606 multisense_lib/sensor_api/source/LibMultiSense/MultiSenseTypes.hh
  96. +0 −625 multisense_lib/sensor_api/source/LibMultiSense/details/channel.cc
  97. +0 −478 multisense_lib/sensor_api/source/LibMultiSense/details/channel.hh
  98. +0 −744 multisense_lib/sensor_api/source/LibMultiSense/details/dispatch.cc
  99. +0 −209 multisense_lib/sensor_api/source/LibMultiSense/details/flash.cc
  100. +0 −221 multisense_lib/sensor_api/source/LibMultiSense/details/listeners.hh
  101. +0 −1,302 multisense_lib/sensor_api/source/LibMultiSense/details/public.cc
  102. +0 −172 multisense_lib/sensor_api/source/LibMultiSense/details/query.hh
  103. +0 −142 multisense_lib/sensor_api/source/LibMultiSense/details/signal.hh
  104. +0 −224 multisense_lib/sensor_api/source/LibMultiSense/details/storage.hh
  105. +0 −297 multisense_lib/sensor_api/source/LibMultiSense/details/utility/BufferStream.hh
  106. +0 −51 multisense_lib/sensor_api/source/LibMultiSense/details/utility/Constants.cc
  107. +0 −54 multisense_lib/sensor_api/source/LibMultiSense/details/utility/Constants.hh
  108. +0 −125 multisense_lib/sensor_api/source/LibMultiSense/details/utility/Exception.cc
  109. +0 −107 multisense_lib/sensor_api/source/LibMultiSense/details/utility/Exception.hh
  110. +0 −73 multisense_lib/sensor_api/source/LibMultiSense/details/utility/Functional.hh
  111. +0 −92 multisense_lib/sensor_api/source/LibMultiSense/details/utility/Portability.hh
  112. +0 −116 multisense_lib/sensor_api/source/LibMultiSense/details/utility/ReferenceCount.hh
  113. +0 −41 multisense_lib/sensor_api/source/LibMultiSense/details/utility/Thread.hh
  114. +0 −323 multisense_lib/sensor_api/source/LibMultiSense/details/utility/TimeStamp.cc
  115. +0 −150 multisense_lib/sensor_api/source/LibMultiSense/details/utility/TimeStamp.hh
  116. +0 −61 multisense_lib/sensor_api/source/LibMultiSense/details/utility/Units.hh
  117. +0 −449 multisense_lib/sensor_api/source/LibMultiSense/details/utility/linux/Thread.hh
  118. +0 −409 multisense_lib/sensor_api/source/LibMultiSense/details/utility/win32/Thread.hh
  119. +0 −75 multisense_lib/sensor_api/source/LibMultiSense/details/wire/AckMessage.h
  120. +0 −158 multisense_lib/sensor_api/source/LibMultiSense/details/wire/CamConfigMessage.h
  121. +0 −125 multisense_lib/sensor_api/source/LibMultiSense/details/wire/CamControlMessage.h
  122. +0 −74 multisense_lib/sensor_api/source/LibMultiSense/details/wire/CamGetConfigMessage.h
  123. +0 −75 multisense_lib/sensor_api/source/LibMultiSense/details/wire/CamGetHistoryMessage.h
  124. +0 −88 multisense_lib/sensor_api/source/LibMultiSense/details/wire/CamHistoryMessage.h
  125. +0 −105 multisense_lib/sensor_api/source/LibMultiSense/details/wire/CamSetResolutionMessage.h
  126. +0 −81 multisense_lib/sensor_api/source/LibMultiSense/details/wire/CamSetTriggerSourceMessage.h
  127. +0 −187 multisense_lib/sensor_api/source/LibMultiSense/details/wire/DisparityMessage.h
  128. +0 −124 multisense_lib/sensor_api/source/LibMultiSense/details/wire/ImageMessage.h
  129. +0 −127 multisense_lib/sensor_api/source/LibMultiSense/details/wire/ImageMetaMessage.h
  130. +0 −104 multisense_lib/sensor_api/source/LibMultiSense/details/wire/ImuConfigMessage.h
  131. +0 −106 multisense_lib/sensor_api/source/LibMultiSense/details/wire/ImuDataMessage.h
  132. +0 −71 multisense_lib/sensor_api/source/LibMultiSense/details/wire/ImuGetConfigMessage.h
  133. +0 −71 multisense_lib/sensor_api/source/LibMultiSense/details/wire/ImuGetInfoMessage.h
  134. +0 −137 multisense_lib/sensor_api/source/LibMultiSense/details/wire/ImuInfoMessage.h
  135. +0 −124 multisense_lib/sensor_api/source/LibMultiSense/details/wire/JpegMessage.h
  136. +0 −73 multisense_lib/sensor_api/source/LibMultiSense/details/wire/LedGetSensorStatusMessage.h
  137. +0 −75 multisense_lib/sensor_api/source/LibMultiSense/details/wire/LedGetStatusMessage.h
  138. +0 −78 multisense_lib/sensor_api/source/LibMultiSense/details/wire/LedSensorStatusMessage.h
  139. +0 −92 multisense_lib/sensor_api/source/LibMultiSense/details/wire/LedSetMessage.h
  140. +0 −92 multisense_lib/sensor_api/source/LibMultiSense/details/wire/LedStatusMessage.h
  141. +0 −139 multisense_lib/sensor_api/source/LibMultiSense/details/wire/LidarDataMessage.h
  142. +0 −80 multisense_lib/sensor_api/source/LibMultiSense/details/wire/LidarSetMotorMessage.h
  143. +0 −271 multisense_lib/sensor_api/source/LibMultiSense/details/wire/Protocol.h
  144. +0 −74 multisense_lib/sensor_api/source/LibMultiSense/details/wire/StatusRequestMessage.h
  145. +0 −137 multisense_lib/sensor_api/source/LibMultiSense/details/wire/StatusResponseMessage.h
  146. +0 −90 multisense_lib/sensor_api/source/LibMultiSense/details/wire/StreamControlMessage.h
  147. +0 −99 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysCameraCalibrationMessage.h
  148. +0 −192 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysDeviceInfoMessage.h
  149. +0 −110 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysDeviceModesMessage.h
  150. +0 −117 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysDirectedStreamsMessage.h
  151. +0 −79 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysExternalCalibrationMessage.h
  152. +0 −146 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysFlashOpMessage.h
  153. +0 −100 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysFlashResponseMessage.h
  154. +0 −73 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysGetCameraCalibrationMessage.h
  155. +0 −73 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysGetDeviceInfoMessage.h
  156. +0 −71 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysGetDeviceModesMessage.h
  157. +0 −72 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysGetDirectedStreamsMessage.h
  158. +0 −74 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysGetExternalCalibrationMessage.h
  159. +0 −73 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysGetLidarCalibrationMessage.h
  160. +0 −71 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysGetNetworkMessage.h
  161. +0 −73 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysGetSensorCalibrationMessage.h
  162. +0 −72 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysGetTransmitDelayMessage.h
  163. +0 −77 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysLidarCalibrationMessage.h
  164. +0 −77 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysMtuMessage.h
  165. +0 −100 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysNetworkMessage.h
  166. +0 −76 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysPpsMessage.h
  167. +0 −78 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysSensorCalibrationMessage.h
  168. +0 −76 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysTestMtuMessage.h
  169. +0 −80 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysTestMtuResponseMessage.h
  170. +0 −75 multisense_lib/sensor_api/source/LibMultiSense/details/wire/SysTransmitDelayMessage.h
  171. +0 −74 multisense_lib/sensor_api/source/LibMultiSense/details/wire/VersionRequestMessage.h
  172. +0 −88 multisense_lib/sensor_api/source/LibMultiSense/details/wire/VersionResponseMessage.h
  173. +0 −4 multisense_lib/sensor_api/source/Scripts/configureNetwork.sh
  174. +0 −65 multisense_lib/sensor_api/source/Utilities/CMakeLists.txt
  175. +0 −15 multisense_lib/sensor_api/source/Utilities/ChangeFps/CMakeLists.txt
  176. +0 −161 multisense_lib/sensor_api/source/Utilities/ChangeFps/ChangeFps.cc
  177. +0 −15 multisense_lib/sensor_api/source/Utilities/ChangeIpUtility/CMakeLists.txt
  178. +0 −335 multisense_lib/sensor_api/source/Utilities/ChangeIpUtility/ChangeIpUtility.cc
  179. +0 −15 multisense_lib/sensor_api/source/Utilities/ChangeResolution/CMakeLists.txt
  180. +0 −191 multisense_lib/sensor_api/source/Utilities/ChangeResolution/ChangeResolution.cc
  181. +0 −15 multisense_lib/sensor_api/source/Utilities/ChangeTransmitDelay/CMakeLists.txt
  182. +0 −160 multisense_lib/sensor_api/source/Utilities/ChangeTransmitDelay/ChangeTransmitDelay.cc
  183. +0 −15 multisense_lib/sensor_api/source/Utilities/DeviceInfoUtility/CMakeLists.txt
  184. +0 −344 multisense_lib/sensor_api/source/Utilities/DeviceInfoUtility/DeviceInfoUtility.cc
  185. +0 −85 multisense_lib/sensor_api/source/Utilities/DeviceInfoUtility/deviceInfo.example
  186. +0 −15 multisense_lib/sensor_api/source/Utilities/DirectedStreamsUtility/CMakeLists.txt
  187. +0 −390 multisense_lib/sensor_api/source/Utilities/DirectedStreamsUtility/DirectedStreamsUtility.cc
  188. +0 −15 multisense_lib/sensor_api/source/Utilities/ExternalCalUtility/CMakeLists.txt
  189. +0 −251 multisense_lib/sensor_api/source/Utilities/ExternalCalUtility/ExternalCalUtility.cc
  190. +0 −6 multisense_lib/sensor_api/source/Utilities/ExternalCalUtility/example_externalCal.yml
  191. +0 −24 multisense_lib/sensor_api/source/Utilities/FlashUtility/CMakeLists.txt
  192. +0 −225 multisense_lib/sensor_api/source/Utilities/FlashUtility/FlashUtility.cc
  193. +0 −194 multisense_lib/sensor_api/source/Utilities/FlashUtility/_MultiSenseUpdater
  194. +0 −15 multisense_lib/sensor_api/source/Utilities/ImageCalUtility/CMakeLists.txt
  195. +0 −299 multisense_lib/sensor_api/source/Utilities/ImageCalUtility/ImageCalUtility.cc
  196. +0 −31 multisense_lib/sensor_api/source/Utilities/ImageCalUtility/example_extrinsics.yml
  197. +0 −27 multisense_lib/sensor_api/source/Utilities/ImageCalUtility/example_intrinsics.yml
  198. +0 −15 multisense_lib/sensor_api/source/Utilities/ImuConfigUtility/CMakeLists.txt
  199. +0 −327 multisense_lib/sensor_api/source/Utilities/ImuConfigUtility/ImuConfigUtility.cc
  200. +0 −15 multisense_lib/sensor_api/source/Utilities/ImuTestUtility/CMakeLists.txt
  201. +0 −274 multisense_lib/sensor_api/source/Utilities/ImuTestUtility/ImuTestUtility.cc
  202. +0 −15 multisense_lib/sensor_api/source/Utilities/LidarCalUtility/CMakeLists.txt
  203. +0 −241 multisense_lib/sensor_api/source/Utilities/LidarCalUtility/LidarCalUtility.cc
  204. +0 −17 multisense_lib/sensor_api/source/Utilities/LidarCalUtility/example_laserCal.yml
  205. +0 −15 multisense_lib/sensor_api/source/Utilities/SaveImageUtility/CMakeLists.txt
  206. +0 −324 multisense_lib/sensor_api/source/Utilities/SaveImageUtility/SaveImageUtility.cc
  207. +0 −15 multisense_lib/sensor_api/source/Utilities/SensorCalUtility/CMakeLists.txt
  208. +0 −252 multisense_lib/sensor_api/source/Utilities/SensorCalUtility/SensorCalUtility.cc
  209. +0 −7 multisense_lib/sensor_api/source/Utilities/portability/getopt/CMakeLists.txt
  210. +0 −93 multisense_lib/sensor_api/source/Utilities/portability/getopt/getopt.c
  211. +0 −37 multisense_lib/sensor_api/source/Utilities/portability/getopt/getopt.h
  212. +0 −213 multisense_lib/sensor_api/source/Utilities/shared/CalibrationYaml.hh
  213. +5 −0 multisense_ros/CHANGELOG.rst
  214. +45 −21 multisense_ros/CMakeLists.txt
  215. +389 −184 multisense_ros/cfg/multisense.cfg
  216. +159 −88 multisense_ros/include/multisense_ros/camera.h
  217. +288 −0 multisense_ros/include/multisense_ros/camera_utilities.h
  218. +10 −6 multisense_ros/include/multisense_ros/color_laser.h
  219. +112 −0 multisense_ros/include/multisense_ros/ground_surface_utilities.h
  220. +8 −6 multisense_ros/include/multisense_ros/imu.h
  221. +10 −9 multisense_ros/include/multisense_ros/laser.h
  222. +182 −0 multisense_ros/include/multisense_ros/point_cloud_utilities.h
  223. +0 −2 multisense_ros/include/multisense_ros/pps.h
  224. +99 −25 multisense_ros/include/multisense_ros/reconfigure.h
  225. +44 −27 ...ibMultiSense/details/wire/SysGetMtuMessage.h → multisense_ros/include/multisense_ros/statistics.h
  226. +0 −3 multisense_ros/include/multisense_ros/status.h
  227. +33 −0 multisense_ros/msg/ChannelStatistics.msg
  228. +11 −3 multisense_ros/package.xml
  229. +1,488 −1,296 multisense_ros/src/camera.cpp
  230. +574 −0 multisense_ros/src/camera_utilities.cpp
  231. +48 −82 multisense_ros/src/color_laser.cpp
  232. +273 −0 multisense_ros/src/ground_surface_utilities.cpp
  233. +91 −55 multisense_ros/src/imu.cpp
  234. +55 −61 multisense_ros/src/laser.cpp
  235. +138 −0 multisense_ros/src/point_cloud_utilities.cpp
  236. +27 −7 multisense_ros/src/pps.cpp
  237. +5 −2 multisense_ros/src/raw_snapshot.cpp
  238. +850 −106 multisense_ros/src/reconfigure.cpp
  239. +77 −13 multisense_ros/src/ros_driver.cpp
  240. +99 −0 multisense_ros/src/statistics.cpp
  241. +4 −2 multisense_ros/src/status.cpp
36 changes: 36 additions & 0 deletions .github/workflows/build.yml
Original file line number Diff line number Diff line change
@@ -0,0 +1,36 @@
name: Build MultiSense ROS

on:
push:
branches:
- master
release:
pull_request:
branches:
- master
workflow_dispatch:

jobs:
build:
runs-on: ubuntu-latest
concurrency:
group: ${{ github.ref_name }}-${{ matrix.ros_distro }}-build
cancel-in-progress: ${{ github.ref_name != 'main' }}
strategy:
fail-fast: false
matrix:
ros_distro:
- noetic
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: docker/setup-buildx-action@v3
- name: Build Docker Image
uses: docker/build-push-action@v6
with:
context: .
file: Dockerfile
push: false
build-args: |
ros_codename=${{ matrix.ros_distro }}
2 changes: 2 additions & 0 deletions .gitignore
Original file line number Diff line number Diff line change
@@ -37,3 +37,5 @@
*.exe
*.out
*.app

multisense_lib/include
3 changes: 3 additions & 0 deletions .gitmodules
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
[submodule "multisense_lib/sensor_api"]
path = multisense_lib/sensor_api
url = https://github.com/carnegierobotics/LibMultiSense.git
25 changes: 25 additions & 0 deletions Dockerfile
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
ARG ros_codename=noetic

FROM ros:${ros_codename}-ros-base
ARG ros_codename

ENV LANG=en_US.UTF-8
ENV DEBIAN_FRONTEND=noninteractive
SHELL ["/bin/bash", "-c"]

RUN mkdir -p /opt/crl/catkin_ws/src
WORKDIR /opt/crl/catkin_ws

COPY . /opt/crl/catkin_ws/src/multisense_ros

RUN . /opt/ros/${ros_codename}/setup.bash \
&& apt-get update \
&& rosdep update \
&& rosdep install --from-paths src -y --ignore-src \
&& apt-get clean \
&& rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*

RUN . /opt/ros/${ros_codename}/setup.bash \
&& catkin_make install -DCMAKE_INSTALL_PREFIX=/opt/ros/${ros_codename} \
&& catkin_make test \
&& rm -r /opt/crl/catkin_ws/{src,devel,build}
33 changes: 31 additions & 2 deletions README.md
Original file line number Diff line number Diff line change
@@ -1,9 +1,38 @@
# multisense_ros

Wrappers, drivers, tools and additional API's for using MultiSense SL, S7, S7S, S21, M, ST21, and BCAM with ROS.
Wrappers, drivers, tools and additional API's for using MultiSense S27, S30, KS21, SL, S7, S7S, S21, M, ST21, BCAM with ROS.

### Installation, Documentation and Tutorials
[Installing multisense_ros](http://docs.carnegierobotics.com/SL/install.html#install)

See the following for documentation on on installing and using multisense_ros for specific camera types.

- [S27](https://docs.carnegierobotics.com/S27/index.html)
- [S30](https://docs.carnegierobotics.com/S30/index.html)
- [KS21](https://docs.carnegierobotics.com/KS21/index.html)
- [S21](https://docs.carnegierobotics.com/S21/index.html)
- [S7/S7S](https://docs.carnegierobotics.com/S7/index.html)
- [SL](https://docs.carnegierobotics.com/SL/index.html)

Please see the following link for detailed documentation on the [LibMultiSense API](https://docs.carnegierobotics.com/libmultisense/index.html) wrapped by the ROS driver.

### Driver Layout
The MultiSense ROS driver contains five ROS packages. The responsibility of each package is outlined below

##### multisense_bringup
This is the set of launch files and configuration files used to start the ROS driver, as well as configuration scripts and other configuration files.

#### multisense_cal_check
This package provides software for evaluating the quality of the laser calibration stored in the MultiSense-SL non-volatile memory.
Note this package only supports MultiSense SL units.

#### multisense_description
This package contains the http://ros.org/wiki/urdf robot description XML file and associated meshes that represent the sensor head, sensor placement and kinematic structure of a MultiSense S21 sensor.

#### multisense_lib
This is the library that implements the wire protocol for communication with the MultiSense S21 sensor.

#### multisense_ros
This package contains the actual ROS drivers for the MultiSense S21. Individual drivers are included for the Camera and IMU subsystems.

### Develop and Contribute

4 changes: 0 additions & 4 deletions build_config/catkin/multisense/CMakeLists.txt_

This file was deleted.

25 changes: 0 additions & 25 deletions build_config/catkin/multisense/package.xml_

This file was deleted.

27 changes: 0 additions & 27 deletions build_config/catkin/multisense_bringup/CMakeLists.txt_

This file was deleted.

19 changes: 0 additions & 19 deletions build_config/catkin/multisense_bringup/package.xml_

This file was deleted.

Loading