Rb5 related packages in ROS2

These packages and developed using ROS dashing on Ubuntu 18.04. For ROS2 foxy or others, see notes below.

1. rb5_ros2_vision

use the following command to launch the main camera on rb5

ros2 launch rb5_ros2_vision rb_camera_main_ocv.launch

make sure that 'use_rb_cam' parameter is set to true.

use the following command to launch on a webcam

ros2 launch rb5_ros2_vision rb_camera_webcam_ocv.launch

make sure that 'use_rb_cam' parameter is set to false.

If 'image_rectify' is set to true, make sure you set the 'camera_parameter_path' correctly to a xml or yaml/yml file. (tested on yaml) Notice that newer versions of opencv saves matrices with 'dt' representing data type. Also the file must start with the yaml version.

Notes on other versions of ROS2

1. In launch files, dashing uses node_executable while foxy uses executable.
2. Dashing doesn't support command line arguements.