.. _program_listing_file_include_constants.h:

Program Listing for File constants.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_constants.h>` (``include/constants.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2023 Intel Corporation. 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.
   
   #pragma once
   
   #include <string>
   #include <rclcpp/rclcpp.hpp>
   
   #define REALSENSE_ROS_MAJOR_VERSION    4
   #define REALSENSE_ROS_MINOR_VERSION    55
   #define REALSENSE_ROS_PATCH_VERSION    1
   
   #define STRINGIFY(arg) #arg
   #define VAR_ARG_STRING(arg) STRINGIFY(arg)
   /* Return version in "X.Y.Z" format */
   #define REALSENSE_ROS_VERSION_STR (VAR_ARG_STRING(REALSENSE_ROS_MAJOR_VERSION.REALSENSE_ROS_MINOR_VERSION.REALSENSE_ROS_PATCH_VERSION))
   
   #define ROS_DEBUG(...) RCLCPP_DEBUG(_logger, __VA_ARGS__)
   #define ROS_INFO(...) RCLCPP_INFO(_logger, __VA_ARGS__)
   #define ROS_WARN(...) RCLCPP_WARN(_logger, __VA_ARGS__)
   #define ROS_ERROR(...) RCLCPP_ERROR(_logger, __VA_ARGS__)
   
   // Based on: https://docs.ros2.org/latest/api/rclcpp/logging_8hpp.html
   #define ROS_DEBUG_STREAM(msg) RCLCPP_DEBUG_STREAM(_logger, msg)
   #define ROS_INFO_STREAM(msg) RCLCPP_INFO_STREAM(_logger, msg)
   #define ROS_WARN_STREAM(msg) RCLCPP_WARN_STREAM(_logger, msg)
   #define ROS_ERROR_STREAM(msg) RCLCPP_ERROR_STREAM(_logger, msg)
   #define ROS_FATAL_STREAM(msg) RCLCPP_FATAL_STREAM(_logger, msg)
   #define ROS_DEBUG_STREAM_ONCE(msg) RCLCPP_DEBUG_STREAM_ONCE(_logger, msg)
   #define ROS_INFO_STREAM_ONCE(msg) RCLCPP_INFO_STREAM_ONCE(_logger, msg)
   #define ROS_WARN_STREAM_COND(cond, msg) RCLCPP_WARN_STREAM_EXPRESSION(_logger, cond, msg)
   
   #define ROS_WARN_ONCE(msg) RCLCPP_WARN_ONCE(_logger, msg)
   #define ROS_WARN_COND(cond, ...) RCLCPP_WARN_EXPRESSION(_logger, cond, __VA_ARGS__)
   
   namespace realsense2_camera
   {
       const uint16_t RS400_PID        = 0x0ad1; // PSR
       const uint16_t RS410_PID        = 0x0ad2; // ASR
       const uint16_t RS415_PID        = 0x0ad3; // ASRC
       const uint16_t RS430_PID        = 0x0ad4; // AWG
       const uint16_t RS430_MM_PID     = 0x0ad5; // AWGT
       const uint16_t RS_USB2_PID      = 0x0ad6; // USB2
       const uint16_t RS420_PID        = 0x0af6; // PWG
       const uint16_t RS420_MM_PID     = 0x0afe; // PWGT
       const uint16_t RS410_MM_PID     = 0x0aff; // ASR
       const uint16_t RS400_MM_PID     = 0x0b00; // PSR
       const uint16_t RS430_MM_RGB_PID = 0x0b01; // AWGCT
       const uint16_t RS460_PID        = 0x0b03; // DS5U
       const uint16_t RS435_RGB_PID    = 0x0b07; // AWGC
       const uint16_t RS435i_RGB_PID   = 0x0B3A; // AWGC_MM
       const uint16_t RS416_RGB_PID    = 0x0B52; // F416 RGB
       const uint16_t RS430i_PID       = 0x0b4b; // D430i
       const uint16_t RS405_PID        = 0x0B5B; // DS5U
       const uint16_t RS455_PID        = 0x0B5C; // D455
       const uint16_t RS457_PID        = 0xABCD; // D457   
   
       const bool ALLOW_NO_TEXTURE_POINTS = false;
       const bool ORDERED_PC     = false;
       const bool SYNC_FRAMES    = false;
       const bool ENABLE_RGBD    = false;
   
       const bool PUBLISH_TF     = true;
       const double TF_PUBLISH_RATE = 0; // Static transform
       const double DIAGNOSTICS_PERIOD = 0.0;
   
       const std::string IMAGE_QOS    = "SYSTEM_DEFAULT";
       const std::string DEFAULT_QOS  = "DEFAULT";
       const std::string HID_QOS         = "SENSOR_DATA";
   
       const bool HOLD_BACK_IMU_FOR_FRAMES = false;
   
       const std::string DEFAULT_BASE_FRAME_ID            = "link";
       const std::string DEFAULT_IMU_OPTICAL_FRAME_ID     = "camera_imu_optical_frame";
   
       const float ROS_DEPTH_SCALE = 0.001;
   
       static const rmw_qos_profile_t rmw_qos_profile_latched =
       {
           RMW_QOS_POLICY_HISTORY_KEEP_LAST,
           1,
           RMW_QOS_POLICY_RELIABILITY_RELIABLE,
           RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
           RMW_QOS_DEADLINE_DEFAULT,
           RMW_QOS_LIFESPAN_DEFAULT,
           RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
           RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
           false
       };
   }  // namespace realsense2_camera