OrbbecSDK_ROS2/orbbec_camera/launch/dabai_dcw2.launch.py

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import PushRosNamespace
from launch.actions import GroupAction
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch_ros.actions import Node
import os
import yaml

def convert_value(value):
    if isinstance(value, str):
        try:
            return int(value)
        except ValueError:
            pass
        try:
            return float(value)
        except ValueError:
            pass
        if value.lower() == 'true':
            return True
        elif value.lower() == 'false':
            return False
    return value

def load_parameters(context, args):
    default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
    skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
    result = {}
    for key, value in default_params.items():
        if key in skip_convert:
            result[key] = value
        elif 'enable_pub_plugins' in key:
            if isinstance(value, str):
                if value.startswith('[') and value.endswith(']'):
                    try:
                        result[key] = yaml.safe_load(value)
                    except:
                        result[key] = [value]
                else:
                    result[key] = [value]
            elif isinstance(value, list):
                result[key] = value
            else:
                result[key] = [str(value)]
        else:
            result[key] = convert_value(value)

    return result

def generate_launch_description():
    # Declare arguments
    args = [
        DeclareLaunchArgument('camera_name', default_value='camera'),
        DeclareLaunchArgument('depth_registration', default_value='false'),
        DeclareLaunchArgument('serial_number', default_value=''),
        DeclareLaunchArgument('usb_port', default_value=''),
        DeclareLaunchArgument('device_num', default_value='1'),
        DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
        DeclareLaunchArgument('product_id', default_value=''),
        DeclareLaunchArgument('enable_point_cloud', default_value='true'),
        DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
        DeclareLaunchArgument('cloud_frame_id', default_value=''),
        DeclareLaunchArgument('point_cloud_qos', default_value='default'),
        DeclareLaunchArgument('connection_delay', default_value='100'),
        DeclareLaunchArgument('color_width', default_value='640'),
        DeclareLaunchArgument('color_height', default_value='480'),
        DeclareLaunchArgument('color_fps', default_value='10'),
        DeclareLaunchArgument('color_format', default_value='MJPG'),
        DeclareLaunchArgument('enable_color', default_value='true'),
        DeclareLaunchArgument('flip_color', default_value='false'),
        DeclareLaunchArgument('color_qos', default_value='default'),
        DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
        DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
        DeclareLaunchArgument('color_exposure', default_value='-1'),
        DeclareLaunchArgument('color_gain', default_value='-1'),
        DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
        DeclareLaunchArgument('color_white_balance', default_value='-1'),
        DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
        DeclareLaunchArgument('color_brightness', default_value='-1'),
        DeclareLaunchArgument('color_sharpness', default_value='-1'),
        DeclareLaunchArgument('color_saturation', default_value='-1'),
        DeclareLaunchArgument('color_contrast', default_value='-1'),
        DeclareLaunchArgument('color_gamma', default_value='-1'),
        DeclareLaunchArgument('color_hue', default_value='-1'),
        DeclareLaunchArgument('depth_width', default_value='640'),
        DeclareLaunchArgument('depth_height', default_value='400'),
        DeclareLaunchArgument('depth_fps', default_value='10'),
        DeclareLaunchArgument('depth_format', default_value='Y11'),
        DeclareLaunchArgument('enable_depth', default_value='true'),
        DeclareLaunchArgument('flip_depth', default_value='false'),
        DeclareLaunchArgument('min_depth_limit', default_value='0'),
        DeclareLaunchArgument('max_depth_limit', default_value='0'),
        DeclareLaunchArgument('depth_qos', default_value='default'),
        DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
        # /config/depthfilter/Openni_device.json，need config path.
        DeclareLaunchArgument('depth_filter_config', default_value=''),
        DeclareLaunchArgument('ir_width', default_value='640'),
        DeclareLaunchArgument('ir_height', default_value='400'),
        DeclareLaunchArgument('ir_fps', default_value='10'),
        DeclareLaunchArgument('ir_format', default_value='Y10'),
        DeclareLaunchArgument('enable_ir', default_value='true'),
        DeclareLaunchArgument('flip_ir', default_value='false'),
        DeclareLaunchArgument('ir_qos', default_value='default'),
        DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
        DeclareLaunchArgument('ir_exposure', default_value='-1'),
        DeclareLaunchArgument('ir_gain', default_value='-1'),
        DeclareLaunchArgument('publish_tf', default_value='true'),
        DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
        DeclareLaunchArgument('ir_info_url', default_value=''),
        DeclareLaunchArgument('color_info_url', default_value=''),
        DeclareLaunchArgument('log_level', default_value='none'),
        DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
        DeclareLaunchArgument('enable_soft_filter', default_value='true'),
        DeclareLaunchArgument('enable_ldp', default_value='true'),
        DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
        DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
        DeclareLaunchArgument('ordered_pc', default_value='false'),
        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
        DeclareLaunchArgument('align_mode', default_value='HW'),
        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
        DeclareLaunchArgument('industry_mode', default_value=''),

        #color image transport plugins
        DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
        #depth image transport plugins
        DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw"]'),
        #ir image transport plugins
        DeclareLaunchArgument('ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
    ]

    def get_params(context, args):
        return [load_parameters(context, args)]

    def create_node_action(context, args):
        params = get_params(context, args)
        ros_distro = os.environ.get("ROS_DISTRO", "humble")
        if ros_distro == "foxy":
            return [
                Node(
                    package="orbbec_camera",
                    executable="orbbec_camera_node",
                    name="ob_camera_node",
                    namespace=LaunchConfiguration("camera_name"),
                    parameters=params,
                    output="screen",
                )
            ]
        else:
            return [
                GroupAction([
                    PushRosNamespace(LaunchConfiguration("camera_name")),
                    ComposableNodeContainer(
                        name="camera_container",
                        namespace="",
                        package="rclcpp_components",
                        executable="component_container",
                        composable_node_descriptions=[
                            ComposableNode(
                                package="orbbec_camera",
                                plugin="orbbec_camera::OBCameraNodeDriver",
                                name=LaunchConfiguration("camera_name"),
                                parameters=params,
                            ),
                        ],
                        output="screen",
                    )
                ])
            ]

    return LaunchDescription(
        args + [
            OpaqueFunction(function=lambda context: create_node_action(context, args))
        ]
    )