fix to work with librealsense v2.17.0 (#555)

fixed to work with librealsense v2.17.0
IntelRealSense · Dec 24, 2018 · c5ea272 · c5ea272
1 parent 76b8f82
commit c5ea272
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Showing 3 changed files with 6 additions and 7 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -26,9 +26,6 @@ install:
   - 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/

diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h
@@ -137,7 +137,6 @@ namespace realsense2_camera
                                const std::string& to);
         void publishStaticTransforms();
         void publishPointCloud(rs2::points f, const ros::Time& t, const rs2::frameset& frameset);
-        rs2::frame get_frame(const rs2::frameset& frameset, const rs2_stream stream, const int index = 0);
         Extrinsics rsExtrinsicsToMsg(const rs2_extrinsics& extrinsics, const std::string& frame_id) const;
         rs2_extrinsics getRsExtrinsics(const stream_index_pair& from_stream, const stream_index_pair& to_stream);
 

diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
@@ -1578,9 +1578,12 @@ void BaseRealSenseNode::publishPointCloud(rs2::points pc, const ros::Time& t, co
     {
         std::set<rs2_format> available_formats{ rs2_format::RS2_FORMAT_RGB8, rs2_format::RS2_FORMAT_Y8 };
 
-        texture_frame_itr = find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f) 
-                                {return (rs2_stream(f.get_profile().stream_type()) == texture_source_id) &&
-                                            (available_formats.find(f.get_profile().format()) != available_formats.end()); });
+        for (texture_frame_itr = frameset.begin();  
+             texture_frame_itr != frameset.end() &&
+             ((*texture_frame_itr).get_profile().stream_type() != texture_source_id ||
+              available_formats.find((*texture_frame_itr).get_profile().format()) == available_formats.end()); 
+              ++texture_frame_itr);
+
         if (texture_frame_itr == frameset.end())
         {
             std::string texture_source_name = pc_filter->_filter->get_option_value_description(rs2_option::RS2_OPTION_STREAM_FILTER, static_cast<float>(texture_source_id));