Add a test node that accepts device' serial number as ROS Param and publishes.

CMakeLists.txt

@@ -47,6 +47,9 @@ target_link_libraries(openni2_wrapper ${catkin_LIBRARIES} ${PC_OPENNI2_LIBRARIES
 add_executable(test_wrapper test/test_wrapper.cpp )
 target_link_libraries(test_wrapper openni2_wrapper ${Boost_LIBRARIES})
 
+add_executable(camera_serial_faker test/camera_serial_faker.cpp)
+target_link_libraries(camera_serial_faker ${catkin_LIBRARIES} ${PC_OPENNI2_LIBRARIES})
+
 add_library(openni2_driver_lib
    src/openni2_driver.cpp
 )
@@ -75,7 +78,7 @@ if (UNIX AND NOT APPLE)
   set(ADDITIONAL_EXECUTABLES "usb_reset")
 endif()
 
-install(TARGETS openni2_wrapper openni2_camera_nodelet openni2_camera_node list_devices openni2_driver_lib ${ADDITIONAL_EXECUTABLES}
+install(TARGETS openni2_wrapper openni2_camera_nodelet openni2_camera_node list_devices openni2_driver_lib camera_serial_faker ${ADDITIONAL_EXECUTABLES}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

test/camera_serial_faker.cpp

@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2018, PlusOne Robotics
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Plus One Robotics, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#include <openni2_camera/GetSerial.h>
+#include <ros/ros.h>
+
+class CameraSerialFaker
+{
+public:
+  CameraSerialFaker(const ros::NodeHandle &nh, const ros::NodeHandle &pnh)
+    : nh_(nh), pnh_(pnh)
+  {
+    // Get serial number from parameter server
+    if (pnh_.getParam("serial", serial_) && !serial_.empty())
+    {
+      get_serial_service_ = nh_.advertiseService("get_serial", &CameraSerialFaker::getSerial, this);
+    }
+  }
+
+  ~CameraSerialFaker() { }
+
+  bool getSerial(openni2_camera::GetSerial::Request &request,
+    openni2_camera::GetSerial::Response &response)
+  {
+    response.serial = serial_;
+    return true;
+  }
+
+private:
+  ros::NodeHandle nh_;
+  ros::NodeHandle pnh_;
+  ros::ServiceServer get_serial_service_;
+  std::string serial_;
+};
+
+int main(int argc, char** argv)
+{
+  ros::init(argc, argv, "camera_serial_faker");
+
+  ros::NodeHandle nh;
+  ros::NodeHandle pnh("~");
+
+  CameraSerialFaker serial_faker(nh, pnh);
+  ros::spin();
+
+  return 0;
+}