robot-project/install/realsense2_camera/include/constants.h

// Copyright 2023 RealSense, Inc. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#pragma once

#include <string>
#include "ros_node_base.h"

#define REALSENSE_ROS_MAJOR_VERSION    4
#define REALSENSE_ROS_MINOR_VERSION    57
#define REALSENSE_ROS_PATCH_VERSION    4

#define STRINGIFY(arg) #arg
#define VAR_ARG_STRING(arg) STRINGIFY(arg)
/* Return version in "X.Y.Z" format */
#define REALSENSE_ROS_VERSION_STR (VAR_ARG_STRING(REALSENSE_ROS_MAJOR_VERSION.REALSENSE_ROS_MINOR_VERSION.REALSENSE_ROS_PATCH_VERSION))

#define ROS_DEBUG(...) RCLCPP_DEBUG(_logger, __VA_ARGS__)
#define ROS_INFO(...) RCLCPP_INFO(_logger, __VA_ARGS__)
#define ROS_WARN(...) RCLCPP_WARN(_logger, __VA_ARGS__)
#define ROS_ERROR(...) RCLCPP_ERROR(_logger, __VA_ARGS__)

// Based on: https://docs.ros2.org/latest/api/rclcpp/logging_8hpp.html
#define ROS_DEBUG_STREAM(msg) RCLCPP_DEBUG_STREAM(_logger, msg)
#define ROS_INFO_STREAM(msg) RCLCPP_INFO_STREAM(_logger, msg)
#define ROS_WARN_STREAM(msg) RCLCPP_WARN_STREAM(_logger, msg)
#define ROS_ERROR_STREAM(msg) RCLCPP_ERROR_STREAM(_logger, msg)
#define ROS_FATAL_STREAM(msg) RCLCPP_FATAL_STREAM(_logger, msg)
#define ROS_DEBUG_STREAM_ONCE(msg) RCLCPP_DEBUG_STREAM_ONCE(_logger, msg)
#define ROS_INFO_STREAM_ONCE(msg) RCLCPP_INFO_STREAM_ONCE(_logger, msg)
#define ROS_WARN_STREAM_COND(cond, msg) RCLCPP_WARN_STREAM_EXPRESSION(_logger, cond, msg)

#define ROS_WARN_ONCE(msg) RCLCPP_WARN_ONCE(_logger, msg)
#define ROS_WARN_COND(cond, ...) RCLCPP_WARN_EXPRESSION(_logger, cond, __VA_ARGS__)

namespace realsense2_camera
{
    const uint16_t RS400_PID        = 0x0ad1; // PSR
    const uint16_t RS410_PID        = 0x0ad2; // ASR
    const uint16_t RS415_PID        = 0x0ad3; // ASRC
    const uint16_t RS430_PID        = 0x0ad4; // AWG
    const uint16_t RS430_MM_PID     = 0x0ad5; // AWGT
    const uint16_t RS_USB2_PID      = 0x0ad6; // USB2
    const uint16_t RS420_PID        = 0x0af6; // PWG
    const uint16_t RS421_PID        = 0x1155; // D421
    const uint16_t RS420_MM_PID     = 0x0afe; // PWGT
    const uint16_t RS410_MM_PID     = 0x0aff; // ASR
    const uint16_t RS400_MM_PID     = 0x0b00; // PSR
    const uint16_t RS430_MM_RGB_PID = 0x0b01; // AWGCT
    const uint16_t RS460_PID        = 0x0b03; // DS5U
    const uint16_t RS435_RGB_PID    = 0x0b07; // AWGC
    const uint16_t RS435i_RGB_PID   = 0x0B3A; // AWGC_MM
    const uint16_t RS416_RGB_PID    = 0x0B52; // F416 RGB
    const uint16_t RS430i_PID       = 0x0b4b; // D430i
    const uint16_t RS405_PID        = 0x0B5B; // DS5U
    const uint16_t RS455_PID        = 0x0B5C; // D455
    const uint16_t RS457_PID        = 0xABCD; // D457
    const uint16_t RS_D585_PID      = 0x0B6A; // D585, D for depth
    const uint16_t RS_D585S_PID     = 0x0B6B; // D585S, S for safety
    const uint16_t RS555_PID        = 0x0B56; // D555
    const uint16_t RS436_PID        = 0x1156; // D436

    const bool ALLOW_NO_TEXTURE_POINTS = false;
    const bool ORDERED_PC     = false;
    const bool SYNC_FRAMES    = false;
    const bool ENABLE_RGBD    = false;

    const bool PUBLISH_TF     = true;
    const double TF_PUBLISH_RATE = 0; // Static transform
    const double DIAGNOSTICS_PERIOD = 0.0;

    const std::string IMAGE_QOS    = "SYSTEM_DEFAULT";
    const std::string DEFAULT_QOS  = "DEFAULT";
    const std::string HID_QOS         = "SENSOR_DATA";

    const bool HOLD_BACK_IMU_FOR_FRAMES = false;

    const std::string DEFAULT_BASE_FRAME_ID            = "link";
    const std::string DEFAULT_IMU_OPTICAL_FRAME_ID     = "camera_imu_optical_frame";

    const float ROS_DEPTH_SCALE = 0.001;

    static const rmw_qos_profile_t rmw_qos_profile_latched =
    {
        RMW_QOS_POLICY_HISTORY_KEEP_LAST,
        1,
        RMW_QOS_POLICY_RELIABILITY_RELIABLE,
        RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
        RMW_QOS_DEADLINE_DEFAULT,
        RMW_QOS_LIFESPAN_DEFAULT,
        RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
        RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
        false
    };
}  // namespace realsense2_camera