Port Image_pipeline on ROS2

[yechun1]

Image_pioeline porting status: (updated on 7/8/2019)

• [depth_image_proc] - Merged (PR: Port depth image proc on ROS2 #362)
• [image_publisher] - Merged(PR: port image_publisher on ROS2 #366 )
• [image_rotate] - Merged(PR: port image_rotate on ros2 #385)
• [image_proc] - Merged(PR: image_proc for ros2 #369 Dashing: Image_proc with old PR comments fixed #426)
• [image_view] - Merged(PR: ROS2: Port image_view #475 Port Image_pipeline on ROS2 #360)
• [camera_calibration] - in review (PR: ros2 camera calibration, tests are strangely failing #376 ROS2 Dashing Image calibration #447)
• [stereo_image_proc] - no owner, depends on image_proc in review (PR: Port stereo_image_proc to ROS 2 #486)

[yechun1]

Could image_pipeline's owner/maintainer please help to create ros2 branch for ros-perception/image_pipeline?

[yechun1]

@mjcarroll thanks for help to create ros2 branch, first PR to enable ros2 depth_image_proc is ready on #362.

[jacobperron]

Any update on stereo_image_proc?

[SteveMacenski]

I can tell you @JWhitleyAStuff and I aren't thinking about it. I had alot of the ROS2 work in this repo scheduled post-ROSCon as I'm a little preoccupied with Navigation2 and slam toolbox.

@jacobperron is that something you're motivated to look at?

[yechun1]

I tried to port stereo_image_proc in the beginning of the year but blocked by image_proc which is not ready then. And now the image_proc has been ported and stereo_image_proc porting could be continue, but very sorry that I have no resource on this right now.
It would be glad if some one could have a time to work on it. Below is previously patch(not fully completed) just for reference.

port ros2 stereo_image_proc: yechun1@e9993be
on (https://github.com/yechun1/image_pipeline/tree/ros2_stereo_image_proc)

[klintan]

@yechun1 one version of image_proc is actually already merged, unfortunately it is not possible to run it as a component yet, but I'll put in some PRs for that. However I think it might still be considered "ready/done" for image_pipeline. (at least as a initial release candidate)

edit: and the PR you are referencing for image_proc is merged and closed :)

[jacobperron]

@jacobperron is that something you're motivated to look at?

@SteveMacenski I don't have the bandwidth at the moment, I'll let you know if things change.

[SteveMacenski]

@jacobperron that doesn't surprise me in the slightest 😉

[jacobperron]

FYI, I have some bandwidth now and will start porting stereo_image_proc.

[laszloturanyi]

Hi,
I managed to port stereo_image_proc some days ago. There is still some work to do to pass all the tests but now it can function.

@jacobperron you do not have to do it from scratch I rebased it to your jacob/ros2_image_processor
you can find a link to my fork. (https://github.com/laszloturanyi/image_pipeline/tree/ros2_stereo_image_proc)

I would be glad if you could have a look at it I have limited capacity to finish this but maybe we can find a way to do this efficiently.

Also some other notes:

• .cfg files should removed (not only in stereo_image_proc) after comments are copied and parameter limits are handled correctly.
• launch file is still the old one from ROS1
• QoS policy is not consistent in image_pipeline. e.g disparity output of depth_image_proc will not be received by image_view nodes because the latter uses default profile while the first uses sensor data profile

[jacobperron]

@laszloturanyi Thanks for sharing your effort! I'm happy to build on your fork if you don't have the time to finish the port.

[laszloturanyi]

@jacobperron that would be great. I added you as collaborator.

[jacobperron]

See #486 for a port of stereo_image_proc.

@laszloturanyi I ended up not basing my fork on yours, as I had already done some of the same preliminary refactoring as you. It would be great if you could help review/try out the proposed port :)

I'll be adding support for parameter limits/reconfiguring shortly.