Generate remappings

clearpath_sensors/config/test.yaml

@@ -0,0 +1,64 @@
+intel_realsense:
+  ros__parameters:
+    camera_name: camera
+    camera_namespace: camera
+    serial_no: ''
+    usb_port_id: ''
+    device_type: ''
+    config_file: ''
+    json_file_path: ''
+    initial_reset: false
+    accelerate_gpu_with_glsl: false
+    rosbag_filename: ''
+    log_level: info
+    output: screen
+    enable_color: true
+    rgb_camera.color_profile: 0,0,0
+    rgb_camera.color_format: RGB8
+    rgb_camera.enable_auto_exposure: true
+    enable_depth: true
+    enable_infra: false
+    enable_infra1: false
+    enable_infra2: false
+    depth_module.depth_profile: 0,0,0
+    depth_module.depth_format: Z16
+    depth_module.infra_profile: 0,0,0
+    depth_module.infra_format: RGB8
+    depth_module.infra1_format: Y8
+    depth_module.infra2_format: Y8
+    depth_module.exposure: 8500
+    depth_module.gain: 16
+    depth_module.hdr_enabled: false
+    depth_module.enable_auto_exposure: true
+    depth_module.exposure.1: 7500
+    depth_module.gain.1: 16
+    depth_module.exposure.2: 1
+    depth_module.gain.2: 16
+    enable_sync: false
+    enable_rgbd: false
+    enable_gyro: false
+    enable_accel: false
+    gyro_fps: 0
+    accel_fps: 0
+    unite_imu_method: 0
+    clip_distance: -2.
+    angular_velocity_cov: 0.01
+    linear_accel_cov: 0.01
+    diagnostics_period: 0.0
+    publish_tf: true
+    tf_publish_rate: 0.0
+    pointcloud.enable: false
+    pointcloud.stream_filter: 2
+    pointcloud.stream_index_filter: 0
+    pointcloud.ordered_pc: false
+    pointcloud.allow_no_texture_points: false
+    align_depth.enable: false
+    colorizer.enable: false
+    decimation_filter.enable: false
+    spatial_filter.enable: false
+    temporal_filter.enable: false
+    disparity_filter.enable: false
+    hole_filling_filter.enable: false
+    hdr_merge.enable: false
+    wait_for_device_timeout: -1.
+    reconnect_timeout: 6.

clearpath_sensors/launch/intel_realsense.launch.py

@@ -32,6 +32,33 @@
 from launch_ros.actions import ComposableNodeContainer, Node
 from launch_ros.substitutions import FindPackageShare
 
+CAMERAS = [
+    'color',
+    'depth',
+    'infra1',
+    'infra2',
+    'aligned_depth_to_color',
+    'aligned_depth_to_infra1',
+    'aligned_dpeth_to_infra2',
+]
+
+IMAGES = [
+    'image_raw',
+    'image_rect_raw',
+]
+
+TOPICS = [
+    'camera_info',
+    'metadata',
+]
+
+OTHERS = [
+    'rgbd',
+    'extrinsics/depth_to_color',
+    'extrinsics/depth_to_infra1',
+    'extrinsics/depth_to_infra2',
+]
+
 
 def generate_launch_description():
     parameters = LaunchConfiguration('parameters')
@@ -54,6 +81,27 @@ def generate_launch_description():
         'robot_namespace',
         default_value='')
 
+    remappings = [
+        ('/tf_static', PathJoinSubstitution(['/', robot_namespace, 'tf_static'])),
+        ('~/depth/color/points', 'points'),
+    ]
+
+    for camera in CAMERAS:
+        for image in IMAGES:
+            remappings.extend([
+                ('~/%s/%s' % (camera, image), '%s/image' % camera),
+                ('~/%s/%s/compressed' % (camera, image), '%s/image/compressed' % camera),
+                ('~/%s/%s/compressedDepth' % (camera, image), '%s/image/compressedDepth' % camera),
+                ('~/%s/%s/theora' % (camera, image), '%s/image/theora' % camera),
+            ])
+        for topic in TOPICS:
+            remappings.append(
+                ('~/%s/%s' % (camera, topic), '%s/%s' % (camera, topic))
+            )
+
+    for topic in OTHERS:
+        remappings.append(('~/%s' % topic, '%s' % topic))
+
     name = 'intel_realsense'
     realsense2_camera_node = Node(
         package='realsense2_camera',
@@ -62,32 +110,7 @@ def generate_launch_description():
         executable='realsense2_camera_node',
         parameters=[parameters],
         output='screen',
-        remappings=[
-            # Color
-            ('color/image_raw', 'color/image'),
-            ('color/image_raw/compressed', 'color/compressed'),
-            ('color/image_raw/compressedDepth', 'color/compressedDepth'),
-            ('color/image_raw/theora', 'color/theora'),
-            # Depth
-            ('depth/image_rect_raw', 'depth/image'),
-            ('depth/image_rect_raw/compressed', 'depth/compressed'),
-            ('depth/image_rect_raw/compressedDepth', 'depth/compressedDepth'),
-            ('depth/image_rect_raw/theora', 'depth/theora'),
-            # Infra1
-            ('infra1/image_rect_raw', 'infra1/image'),
-            ('infra1/image_rect_raw/compressed', 'infra1/compressed'),
-            ('infra1/image_rect_raw/compressedDepth', 'infra1/compressedDepth'),
-            ('infra1/image_rect_raw/theora', 'infra1/theora'),
-            # Infra2
-            ('infra2/image_rect_raw', 'infra2/image'),
-            ('infra2/image_rect_raw/compressed', 'infra2/compressed'),
-            ('infra2/image_rect_raw/compressedDepth', 'infra2/compressedDepth'),
-            ('infra2/image_rect_raw/theora', 'infra2/theora'),
-            # Points
-            ('depth/color/points', 'points'),
-            # TF
-            ('/tf_static', PathJoinSubstitution(['/', robot_namespace, 'tf_static']))
-        ]
+        remappings=remappings,
     )
 
     image_processing_container = ComposableNodeContainer(