New package to advertise virtual RGB-D camera

.travis.yml

@@ -21,7 +21,7 @@ env:
     - ROS_DISTRO=hydro  USE_DEB=false CATKIN_TOOLS_BUILD_OPTIONS="-iv --summarize --no-status --no-color"
     - ROS_DISTRO=indigo USE_DEB=true
     - ROS_DISTRO=indigo USE_DEB=false BEFORE_SCRIPT='$CI_SOURCE_PATH/.travis_before_script_released_testing.bash' ROS_REPOSITORY_PATH="http://packages.ros.org/ros/ubuntu"
-    - ROS_DISTRO=indigo USE_DEB=false BEFORE_SCRIPT='$CI_SOURCE_PATH/.travis_before_script_opencv3.bash' BUILD_PKGS='checkerboard_detector imagesift jsk_perception jsk_recognition_utils resized_image_transport'
+    - ROS_DISTRO=indigo USE_DEB=false BEFORE_SCRIPT='$CI_SOURCE_PATH/.travis_before_script_opencv3.bash' BUILD_PKGS='checkerboard_detector imagesift jsk_perception jsk_recognition_utils resized_image_transport virtual_camera'
     - ROS_DISTRO=indigo USE_DEB=true BEFORE_SCRIPT='$CI_SOURCE_PATH/.travis_before_script_pcl1.8.bash' BUILD_PKGS='jsk_pcl_ros_utils jsk_pcl_ros'
     - ROS_DISTRO=jade   USE_DEB=false
 script:

virtual_camera/CMakeLists.txt

@@ -0,0 +1,100 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(virtual_camera)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+  camera_info_manager
+  cv_bridge
+  nodelet
+  pcl_conversions
+  roscpp
+  sensor_msgs
+  std_msgs
+)
+
+find_package(Boost REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(PCL REQUIRED)
+
+
+###################################
+## catkin specific configuration ##
+###################################
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+  camera_info_manager
+  nodelet
+  pcl_conversions
+  roscpp
+  sensor_msgs
+  std_msgs
+  #
+  DEPENDS
+  Boost
+  OpenCV
+  PCL
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+)
+
+add_library(${PROJECT_NAME} src/virtual_camera_driver.cpp)
+
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+  ${OpenCV_LIBRARIES}
+  ${PCL_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+install(PROGRAMS
+  scripts/driver
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(TARGETS
+  ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY
+  include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+install(DIRECTORY
+  sample
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(FILES
+  nodelets.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(test/driver.test)
+endif()

virtual_camera/include/virtual_camera/virtual_camera_driver.h

@@ -0,0 +1,93 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2016, Kentaro Wada
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/o2r other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Kentaro Wada nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+
+#ifndef VIRTUAL_CAMERA_VIRTUAL_CAMERA_DRIVER_H_
+#define VIRTUAL_CAMERA_VIRTUAL_CAMERA_DRIVER_H_
+
+#include <boost/shared_ptr.hpp>
+#include <boost/thread/mutex.hpp>
+
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+#include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/PointCloud2.h>
+
+namespace virtual_camera
+{
+
+class VirtualCameraDriver: public nodelet::Nodelet
+{
+public:
+  VirtualCameraDriver():
+    publish_info_(false),
+    publish_image_(false),
+    publish_cloud_(false),
+    time_prev_pub_info_(ros::Time(0)),
+    time_prev_pub_image_(ros::Time(0)),
+    time_prev_pub_cloud_(ros::Time(0)) {}
+protected:
+  virtual void onInit();
+  void publishCb(const ros::TimerEvent& event);
+
+  boost::mutex mutex_;
+
+  ros::NodeHandle* nh_;
+  ros::NodeHandle* pnh_;
+
+  ros::Timer timer_pub_;
+
+  ros::Publisher pub_info_;
+  ros::Publisher pub_image_;
+  ros::Publisher pub_cloud_;
+
+  sensor_msgs::CameraInfo info_msg_;
+  sensor_msgs::ImagePtr image_msg_;
+  sensor_msgs::PointCloud2 cloud_msg_;
+
+  bool publish_info_;
+  bool publish_image_;
+  bool publish_cloud_;
+  double rate_info_;
+  double rate_image_;
+  double rate_cloud_;
+  ros::Time time_prev_pub_info_;
+  ros::Time time_prev_pub_image_;
+  ros::Time time_prev_pub_cloud_;
+private:
+};
+
+}  // namespace virtual_camera
+
+#endif  // VIRTUAL_CAMERA_VIRTUAL_CAMERA_DRIVER_H_

virtual_camera/nodelets.xml

@@ -0,0 +1,11 @@
+<library path="lib/libvirtual_camera">
+
+  <class name="virtual_camera/driver"
+         type="virtual_camera::VirtualCameraDriver"
+         base_class_type="nodelet::Nodelet">
+    <description>
+      Virtual camera driver nodelet.
+    </description>
+  </class>
+
+</library>

virtual_camera/package.xml

@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<package>
+  <name>virtual_camera</name>
+  <version>0.3.25</version>
+  <description>A virtual ROS driver for RGB-D cameras.</description>
+  <maintainer email="[email protected]">Kentaro Wada</maintainer>
+  <license>BSD</license>
+  <url type="website">https://github.com/jsk-ros-pkg/jsk_recognition</url>
+  <author email="[email protected]">Kentaro Wada</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- alphabetical order -->
+  <build_depend>boost</build_depend>
+  <build_depend>camera_info_manager</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>libopencv-dev</build_depend>
+  <build_depend>libpcl-all-dev</build_depend>
+  <build_depend>nodelet</build_depend>
+  <build_depend>pcl_conversions</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <!-- alphabetical order -->
+
+  <!-- alphabetical order -->
+  <run_depend>boost</run_depend>
+  <run_depend>camera_info_manager</run_depend>
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>libopencv-dev</run_depend>
+  <run_depend>libpcl-all-dev</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>pcl_conversions</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <!-- alphabetical order -->
+
+  <!-- alphabetical order -->
+  <test_depend>rostest</test_depend>
+  <!-- alphabetical order -->
+
+  <export>
+    <nodelet plugin="${prefix}/nodelets.xml"/>
+  </export>
+</package>