Bug fiix import patron.xacro and append packages realsense2

src/realsense2_camera/scripts/echo_metadada.py

@@ -0,0 +1,52 @@
+# 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.
+
+#!/usr/bin/env python
+import os
+import sys
+import rclpy
+from rclpy.node import Node
+from rclpy import qos
+from realsense2_camera_msgs.msg import Metadata
+import json
+
+def metadata_cb(msg):
+    aa = json.loads(msg.json_data)
+    os.system('clear')
+    print('header:\nstamp:\n  secs:', msg.header.stamp.sec, '\n  nsecs:',  msg.header.stamp.nanosec)
+    print('\n'.join(['%10s:%-10s' % (key, str(value)) for key, value in aa.items()]))
+
+def main():
+    if len(sys.argv) < 2 or '--help' in sys.argv or '/?' in sys.argv:
+        print ('USAGE:')
+        print('echo_metadata.py <topic>')
+        print('Demo for listening on given metadata topic.')
+        print('App subscribes on given topic')
+        print('App then prints metadata from messages')
+        print('')
+        print('Example: echo_metadata.py /camera/depth/metadata')
+        print('')
+        exit(-1)
+
+    topic = sys.argv[1]
+
+    rclpy.init()
+    node = Node('metadata_tester')
+
+    depth_sub = node.create_subscription(Metadata, topic, metadata_cb, qos.qos_profile_sensor_data)
+
+    rclpy.spin(node)
+
+if __name__ == '__main__':
+    main()