use ddynamic_reconfigure and support D435i (#535)

Add dynamic dynamic reconfigure. That means there are no longer differences in the code between D415, D430, SR300.

Add dynamic options for filters

Add support for camera D435i.

Add clipping_disance option. enabled with parameter: clip_distance. units: meters. Default: no clipping.
Add linear accel covariance - Default: 0.01
Add option: unite_imu - send linear acceleration and radial velocity in the same Imu message. Default: True

Add parameter: hold_back_imu_for_frames. If set to true, hold imu messages that arrived while manipulating frames, until frames are actually sent.

Comply with librealsense v2.17.0

Add opensource_tracking.launch - demo that runs realsense2_camera, imu_filter_madgwick, rtabmap and robot_localization to demonstrate Slam with realsense D435i

Set accel_fps to 250 as this is the new maximal rate in librealsense v2.17.0

* Add NOTICE file, to emphasize the contribution of the ddynamic_reconfigure project.

Known Issue: Option for toggling sensor on and off while running is missing.

.gitignore

@@ -5,3 +5,4 @@
 *.ini
 .idea/
 .vs/
+*.json

.travis.yml

@@ -25,7 +25,10 @@ install:
   - sudo apt-get install ros-kinetic-diagnostic-updater -y
   - source ~/.bashrc
   - mkdir -p ~/catkin_ws/src/realsense
-
+
+  # download ddynamic_reconfigure:
+  - git clone -v --progress https://github.com/awesomebytes/ddynamic_reconfigure.git
+
   # install realsense2-camera
   - mv * ~/catkin_ws/src/realsense/     # This leaves behind .git, .gitignore and .travis.yml but no matter.
   - cd ~/catkin_ws/src/

NOTICE

@@ -0,0 +1,4 @@
+This project uses code from the following third-party projects, listed here
+with the full text of their respective licenses.
+
+ddynamic_reconfigure (BSD) - https://github.com/awesomebytes/ddynamic_reconfigure

ddynamic_reconfigure/.gitignore

@@ -0,0 +1,2 @@
+*~
+*user

ddynamic_reconfigure/CHANGELOG.rst

@@ -0,0 +1,65 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ddynamic_reconfigure
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.6 (2018-07-02)
+------------------
+* Recreated classes to enable OOD (adding more param types will be easy)
+* Added string and enum support
+* generalised the callback
+  You can now look into the new values with the current callback format.
+* Level support added.
+* Added unit-tests for all param classes.
+* Added unit-tests for value class.
+* Upgraded fake-server test & removed bool-server test (obsolete).
+* Added description support.
+* Added stream (<<) operator to ddynamic and its params.
+* Contributors: Noam Dori
+
+0.0.5 (2016-04-14)
+------------------
+* Merge branch 'user-callback' into 'dubnium-devel'
+  User callback
+  Remember that we have to re release everyone who depends on this since it breaks API.
+  See merge request !1
+* Add test for double param
+* Add hack to have namespaced DdynamicReconfigure, for easier migration
+* Add user callback and unit tests
+* Migrate package to format 2
+* Contributors: Hilario Tome, Victor Lopez
+
+0.0.4 (2016-03-07)
+------------------
+* Added destructor, fixed bug
+* Added to dynamic reconfigure to parse from param server the initial value if it is availlable
+* Contributors: Hilario Tome
+
+0.0.3 (2015-06-10)
+------------------
+* Added license and documentation
+* Contributors: Hilario Tome
+
+0.0.2 (2015-05-25)
+------------------
+* Added min and max value specification when registering a variable
+* Contributors: Hilario Tome
+
+0.0.1 (2015-01-26)
+------------------
+* fix author, mantainer
+* move ddynamic reconfigure to standalone repo
+* Prepare ddynamic_reconfigure for standalone package
+* Added safe header
+* Added test folder
+* Fixed a bug when generating the config description, the int vector was being used in the bool part
+* Added typedef for ddreconfigure
+* Bug fix, now the parameters can be seen in dynamic reconfigure even if they have changed from c++
+* Updated DDynamic reconfigure to published updated values persistently
+* Added working momentum task
+* Fixed bug, wrong return statement
+* Fixed export
+* Fixed bug in ddynamic reconfigure and its CmakeFile
+* Minor changes to add the abstract reference to the goto dynamic tasks
+* Dynamics wbc is working again (Really slowly with uquadprog) visualization of torques and partially of forces (also partial force integration)
+* Added DDyanmic_reconfigure package, a way to have dynamic reconfigure functionality without a cfg
+* Contributors: Hilario Tome, Luca Marchionni

ddynamic_reconfigure/CMakeLists.txt

@@ -0,0 +1,77 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ddynamic_reconfigure)
+
+find_package(catkin REQUIRED COMPONENTS roscpp message_generation)
+
+set(CMAKE_CXX_STANDARD 98)
+
+##############
+## Services ##
+##############
+
+add_service_files(DIRECTORY test FILES TutorialParams.srv)
+generate_messages(DEPENDENCIES std_msgs)
+
+############
+## Catkin ##
+############
+
+catkin_package(INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS)
+
+#############
+## Library ##
+#############
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+add_library(${PROJECT_NAME}
+        src/ddynamic_reconfigure.cpp
+        include/ddynamic_reconfigure/dd_param.h
+        src/param/dd_int_param.cpp
+        include/ddynamic_reconfigure/dd_value.h
+        src/param/dd_double_param.cpp
+        src/param/dd_bool_param.cpp
+        src/param/dd_string_param.cpp
+        src/param/dd_enum_param.cpp
+        include/ddynamic_reconfigure/param/dd_all_params.h src/dd_param.cpp)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+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})
+
+#############
+## Testing ##
+#############
+
+if (CATKIN_ENABLE_TESTING)
+    find_package(rostest REQUIRED)
+
+    ## DDynamic tester
+    add_rostest_gtest(ddynamic_reconfigure-test test/ddynamic_reconfigure.test test/test_ddynamic_reconfigure.cpp)
+    target_link_libraries(ddynamic_reconfigure-test ${PROJECT_NAME})
+
+    ## DDParam tester
+    foreach (param_type int double bool string enum)
+        add_rostest_gtest(dd_${param_type}-test test/dd_param/dd_${param_type}.test test/dd_param/test_dd_${param_type}.cpp)
+        target_link_libraries(dd_${param_type}-test ${PROJECT_NAME})
+    endforeach ()
+
+    ## DDValue tester
+    add_rostest_gtest(dd_value-test test/dd_value.test test/test_dd_value.cpp)
+    target_link_libraries(dd_value-test ${PROJECT_NAME})
+
+    ## Full scale tester
+    add_executable(dd_server test/dd_full_scale/dd_server.cpp)
+    target_link_libraries(dd_server ${PROJECT_NAME} ${catkin_LIBRARIES})
+    add_dependencies(dd_server ${PROJECT_NAME}_gencpp)
+
+    add_rostest_gtest(dd_full_scale-test test/dd_full_scale/dd_full_scale.test test/dd_full_scale/dd_client.cpp)
+    target_link_libraries(dd_full_scale-test ${PROJECT_NAME})
+endif(CATKIN_ENABLE_TESTING)