update test example for depth_image_proc

- rename raw topic as image_transport fixed the issue (ros-perception/image_common#96)
- update test example of point_cloud_xyzrgb.launch

Signed-off-by: Chris Ye <chris.ye@intel.com>

depth_image_proc/examples/launch/convert_metric.launch.py

@@ -40,9 +40,9 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition', output='screen',
-            remappings=[('image_raw/raw', '/camera/depth/image_rect_raw/raw'),
+            remappings=[('image_raw', '/camera/depth/image_rect_raw'),
                         ('camera_info', '/camera/depth/camera_info'),
-                        ('image/raw', '/camera/depth/image/raw')]),
+                        ('image', '/camera/depth/image')]),
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition_cli', output='screen',
             arguments=['depth_image_proc', 'depth_image_proc::ConvertMetricNode']),

depth_image_proc/examples/launch/crop_foremost.launch.py

@@ -40,9 +40,9 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition', output='screen',
-            remappings=[('image_raw/raw', '/camera/depth/image_rect_raw/raw'),
+            remappings=[('image_raw', '/camera/depth/image_rect_raw'),
                         ('camera_info', '/camera/depth/camera_info'),
-                        ('image/raw', '/camera/depth/image/raw')]),
+                        ('image', '/camera/depth/image')]),
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition_cli', output='screen',
             arguments=['depth_image_proc', 'depth_image_proc::CropForemostNode']),

depth_image_proc/examples/launch/disparity.launch.py

@@ -40,7 +40,7 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition', output='screen',
-            remappings=[('left/image_rect/raw', '/camera/depth/image_rect_raw/raw'),
+            remappings=[('left/image_rect', '/camera/depth/image_rect_raw'),
                         ('right/camera_info', '/camera/depth/camera_info'),
                         ('left/disparity', '/camera/left/disparity')]),
         launch_ros.actions.Node(

depth_image_proc/examples/launch/point_cloud_xyz.launch.py

@@ -40,7 +40,7 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition', output='screen',
-            remappings=[('image_rect/raw', '/camera/depth/image_rect_raw/raw'),
+            remappings=[('image_rect', '/camera/depth/image_rect_raw'),
                         ('camera_info', '/camera/depth/camera_info'),
                         ('points', '/camera/depth/points')]),
         launch_ros.actions.Node(

depth_image_proc/examples/launch/point_cloud_xyz_radial.launch.py

@@ -40,10 +40,10 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition', output='screen',
-            remappings=[('image_raw/raw', '/camera/depth/image_rect_raw/raw'),
+            remappings=[('image_raw', '/camera/depth/image_rect_raw'),
                         ('camera_info', '/camera/depth/camera_info'),
                         ('points', '/camera/depth/points')]),
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition_cli', output='screen',
-            arguments=['depth_image_proc', 'depth_image_proc::PointCloudXyzRadial']),
+            arguments=['depth_image_proc', 'depth_image_proc::PointCloudXyzRadialNode']),
     ])

depth_image_proc/examples/launch/point_cloud_xyzi.launch.py

@@ -40,8 +40,8 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition', output='screen',
-            remappings=[('depth/image_raw/raw', '/camera/depth/image_rect_raw/raw'),
-                        ('intensity/image_raw/raw', '/camera/intensity/image_raw/raw'),
+            remappings=[('depth/image_raw', '/camera/depth/image_rect_raw'),
+                        ('intensity/image_raw', '/camera/intensity/image_raw'),
                         ('intensity/camera_info', '/camera/intensity/camera_info'),
                         ('points', '/camera/depth/points')]),
         launch_ros.actions.Node(

depth_image_proc/examples/launch/point_cloud_xyzi_radial.launch.py

@@ -40,8 +40,8 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition', output='screen',
-            remappings=[('depth/image_raw/raw', '/camera/depth/image_rect_raw/raw'),
-                        ('intensity/image_raw/raw', '/camera/intensity/image_raw/raw'),
+            remappings=[('depth/image_raw', '/camera/depth/image_rect_raw'),
+                        ('intensity/image_raw', '/camera/intensity/image_raw'),
                         ('intensity/camera_info', '/camera/intensity/camera_info'),
                         ('points', '/camera/depth/points')]),
         launch_ros.actions.Node(

depth_image_proc/examples/launch/point_cloud_xyzrgb.launch.py

@@ -35,16 +35,34 @@
 from launch import LaunchDescription
 import launch_ros.actions
 
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
 
 def generate_launch_description():
+    default_rviz = os.path.join(get_package_share_directory('depth_image_proc'),
+                                'launch', 'rviz/point_cloud_xyzrgb.rviz')
     return LaunchDescription([
+        # install realsense from https://github.com/intel/ros2_intel_realsense
+        launch_ros.actions.Node(
+            package='realsense_ros2_camera', node_executable='realsense_ros2_camera', output='screen'),
+
+        # composition api_composition
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition', output='screen',
             remappings=[('rgb/camera_info', '/camera/color/camera_info'),
-                        ('rgb/image_rect_color/raw', '/camera/color/image_raw/raw'),
-                        ('depth_registered/image_rect/raw',
-                         '/camera/aligned_depth_to_color/image_raw/raw')]),
+                        ('rgb/image_rect_color', '/camera/color/image_raw'),
+                        ('depth_registered/image_rect',
+                         '/camera/aligned_depth_to_color/image_raw')]),
+
+        # depth_image_proc::PointCloudXyzrgbNode
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition_cli', output='screen',
             arguments=['depth_image_proc', 'depth_image_proc::PointCloudXyzrgbNode']),
+
+        # rviz
+        launch_ros.actions.Node(
+            package='rviz2', node_executable='rviz2', output='screen',
+            arguments=['--display-config', default_rviz]),
     ])

depth_image_proc/examples/launch/register.launch.py

@@ -40,11 +40,11 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition', output='screen',
-            remappings=[('depth/image_rect/raw', '/camera/depth/image_rect_raw/raw'),
+            remappings=[('depth/image_rect', '/camera/depth/image_rect_raw'),
                         ('depth/camera_info', '/camera/depth/camera_info'),
                         ('rgb/camera_info', '/camera/color/camera_info'),
-                        ('depth_registered/image_rect/raw',
-                         '/camera/depth_registered/image_rect/raw'),
+                        ('depth_registered/image_rect',
+                         '/camera/depth_registered/image_rect'),
                         ('depth_registered/camera_info', '/camera/depth_registered/camera_info')]),
         launch_ros.actions.Node(
             package='composition', node_executable='api_composition_cli', output='screen',

depth_image_proc/examples/launch/rviz/point_cloud_xyzrgb.rviz

@@ -0,0 +1,179 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /color_image1
+        - /depth_image1
+        - /registered_depth_image1
+        - /PointCloud21
+      Splitter Ratio: 0.5
+    Tree Height: 392
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: color_image
+      Normalize Range: true
+      Queue Size: 10
+      Topic: /camera/color/image_raw
+      Unreliable: false
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: depth_image
+      Normalize Range: true
+      Queue Size: 10
+      Topic: /camera/depth/image_rect_raw
+      Unreliable: false
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: registered_depth_image
+      Normalize Range: true
+      Queue Size: 10
+      Topic: /camera/aligned_depth_to_color/image_raw
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /camera/depth_registered/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: camera_color_optical_frame
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.8979061841964722
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: -1.5597962141036987
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.718582630157471
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1145
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000002740000041ffc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000213000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000160063006f006c006f0072005f0069006d0061006700650100000256000000a20000002800fffffffb0000001600640065007000740068005f0069006d00610067006501000002fe000000a90000002800fffffffb0000002c0072006500670069007300740065007200650064005f00640065007000740068005f0069006d00610067006501000003ad000000af0000002800ffffff000000010000010f0000041ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000041f000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004c30000041f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1853
+  X: 67
+  Y: 27
+  color_image:
+    collapsed: false
+  depth_image:
+    collapsed: false
+  registered_depth_image:
+    collapsed: false