Support for selecting stream_type specific profile

README.md

@@ -172,7 +172,7 @@
 
   #### with ros2 launch:
     ros2 launch realsense2_camera rs_launch.py
-    ros2 launch realsense2_camera rs_launch.py depth_module.profile:=1280x720x30 pointcloud.enable:=true
+    ros2 launch realsense2_camera rs_launch.py depth_module.depth_profile:=1280x720x30 pointcloud.enable:=true
 
 <hr>
 
@@ -251,10 +251,10 @@ User can set the camera name and camera namespace, to distinguish between camera
 #### Parameters that can be modified during runtime:
 - All of the filters and sensors inner parameters.
 - Video Sensor Parameters: (```depth_module``` and ```rgb_camera```)
-  - They have, at least, the **profile** parameter.
+  - They have, at least, the **<stream_type>_profile** parameter.
     - The profile parameter is a string of the following format: \<width>X\<height>X\<fps> (The dividing character can be X, x or ",". Spaces are ignored.)
-    - For example: ```depth_module.profile:=640x480x30 rgb_camera.profile:=1280x720x30```
-    - Since infra, infra1, infra2 and depth are all streams of the depth_module, their width, height and fps are defined by the same param **depth_module.profile**
+    - For example: ```depth_module.depth_profile:=640x480x30 depth_module.infra_profile:=640x480x30 rgb_camera.color_profile:=1280x720x30```
+    - Note: The param **depth_module.infra_profile** is common for all infra streams. i.e., infra 0, 1 & 2.
     - If the specified combination of parameters is not available by the device, the default or previously set configuration will be used.
       - Run ```ros2 param describe <your_node_name> <param_name>``` to get the list of supported profiles.
     - Note: Should re-enable the stream for the change to take effect.

realsense2_camera/include/profile_manager.h

@@ -68,22 +68,22 @@ namespace realsense2_camera
             VideoProfilesManager(std::shared_ptr<Parameters> parameters, const std::string& module_name, rclcpp::Logger logger, bool force_image_default_qos = false);
             bool isWantedProfile(const rs2::stream_profile& profile) override;
             void registerProfileParameters(std::vector<stream_profile> all_profiles, std::function<void()> update_sensor_func) override;
-            int getHeight() {return _height;};
-            int getWidth() {return _width;};
-            int getFPS() {return _fps;};
+            int getHeight(rs2_stream stream_type) {return _height[stream_type];};
+            int getWidth(rs2_stream stream_type) {return _width[stream_type];};
+            int getFPS(rs2_stream stream_type) {return _fps[stream_type];};
 
         private:
             bool isSameProfileValues(const rs2::stream_profile& profile, const int width, const int height, const int fps, const rs2_format format);
+            rs2::stream_profile validateAndGetSuitableProfile(rs2_stream stream_type, rs2::stream_profile given_profile);
             void registerVideoSensorProfileFormat(stream_index_pair sip);
             void registerVideoSensorParams(std::set<stream_index_pair> sips);
-            std::string get_profiles_descriptions();
+            std::string get_profiles_descriptions(rs2_stream stream_type);
             std::string getProfileFormatsDescriptions(stream_index_pair sip);
 
         private:
             std::string _module_name;
             std::map<stream_index_pair, rs2_format>  _formats;
-            int      _fps;
-            int _width, _height;
+            std::map<rs2_stream, int> _fps, _width, _height;
             bool _is_profile_exist;
             bool _force_image_default_qos;
     };

realsense2_camera/launch/rs_launch.py

@@ -33,15 +33,16 @@
                            {'name': 'log_level',                    'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
                            {'name': 'output',                       'default': 'screen', 'description': 'pipe node output [screen|log]'},
                            {'name': 'enable_color',                 'default': 'true', 'description': 'enable color stream'},
-                           {'name': 'rgb_camera.profile',           'default': '0,0,0', 'description': 'color image width'},
+                           {'name': 'rgb_camera.color_profile',     'default': '0,0,0', 'description': 'color stream profile'},
                            {'name': 'rgb_camera.color_format',      'default': 'RGB8', 'description': 'color stream format'},
                            {'name': 'rgb_camera.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for color image'},
                            {'name': 'enable_depth',                 'default': 'true', 'description': 'enable depth stream'},
                            {'name': 'enable_infra',                 'default': 'false', 'description': 'enable infra0 stream'},
                            {'name': 'enable_infra1',                'default': 'false', 'description': 'enable infra1 stream'},
                            {'name': 'enable_infra2',                'default': 'false', 'description': 'enable infra2 stream'},
-                           {'name': 'depth_module.profile',         'default': '0,0,0', 'description': 'depth module profile'},
+                           {'name': 'depth_module.depth_profile',   'default': '0,0,0', 'description': 'depth stream profile'},
                            {'name': 'depth_module.depth_format',    'default': 'Z16', 'description': 'depth stream format'},
+                           {'name': 'depth_module.infra_profile',   'default': '0,0,0', 'description': 'infra streams (0/1/2) profile'},
                            {'name': 'depth_module.infra_format',    'default': 'RGB8', 'description': 'infra0 stream format'},
                            {'name': 'depth_module.infra1_format',   'default': 'Y8', 'description': 'infra1 stream format'},
                            {'name': 'depth_module.infra2_format',   'default': 'Y8', 'description': 'infra2 stream format'},
@@ -83,8 +84,9 @@
                            {'name': 'reconnect_timeout',            'default': '6.', 'description': 'Timeout(seconds) between consequtive reconnection attempts'},
                            {'name': 'enable_safety',                'default': 'false', 'description': "'enable safety stream'"},                                                      
                            {'name': 'enable_labeled_point_cloud',   'default': 'false', 'description': "'enable labeled point cloud stream'"},
+                           {'name': 'depth_mapping_camera.labeled_point_cloud_profile', 'default': '0,0,0', 'description': "'Label PointCloud stream profile'"},
                            {'name': 'enable_occupancy',             'default': 'false', 'description': "'enable occupancy stream'"},
-                           {'name': 'depth_mapping_camera.profile', 'default': '0,0,0', 'description': "'depth mapping camera profile'"},
+                           {'name': 'depth_mapping_camera.occupancy_profile', 'default': '0,0,0', 'description': "'Occupancy stream profile'"},
                           ]
 
 def declare_configurable_parameters(parameters):