Convert depth camera from Pepper to PointCloud2 msg in ROS

User Story/Description

As a developer of the lhw_motion navigation package, I need the depth camera to make pepper aware of its surroundings.

Definition of Done

When a topic "/image/depth" is publishing depth camera info from Pepper

How

Good links: https://github.com/mbusy/naoqi_driver/blob/ros2_integration/src/naoqi_driver.cpp Where the actual messages are converted from naoqi to ROS: https://github.com/mbusy/naoqi_driver/tree/ros2_integration/src/converters Info about the camera types etc: https://github.com/mbusy/naoqi_driver/blob/ros2_integration/src/converters/camera_info_definitions.hpp

Good info from the API documentation: http://doc.aldebaran.com/2-5/naoqi/vision/alvideodevice-api.html There you find the info such as the index for the depth camera being 2 and much more.

Example of messages from Pepper: Standing 10cm away:

[80,60,3,11,5216,172,"Error: no serialization for Buffer",2,0.511302948,0.398310333,-0.511302948,-0.398310333]

Free view to the couches in the lab:

[80,60,3,11,5227,796645,"Error: no serialization for Buffer",2,0.511302948,0.398310333,-0.511302948,-0.398310333]

Want to convert to a PointCloud2 message in ROS (see for instance ros2 interface show sensor_msgs/msgs/PointCloud2.

---Efter nya instruktioner, konvertera djupbilden som pepper ger till PointCloud2

Links:

Pepper bringup https://github.com/ros-naoqi/pepper_robot/tree/master/pepper_bringup

rgbd_launch https://github.com/ros-drivers/rgbd_launch

Kanske fungerande rgbd_launch https://github.com/2quarius/rgbd_launch/tree/foxy

Topic som har djupkamera nu: /camera/depth/image_raw