OrbbecSDK_ROS2/orbbec_camera/launch/gemini_330_series.launch.py

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


def load_yaml(file_path):
    with open(file_path, "r") as f:
        return yaml.safe_load(f)


def merge_params(default_params, yaml_params):
    for key, value in yaml_params.items():
        if key in default_params:
            default_params[key] = value
    return default_params


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
    }
    config_file_path = LaunchConfiguration("config_file_path").perform(context)
    if config_file_path:
        yaml_params = load_yaml(config_file_path)
        default_params = merge_params(default_params, yaml_params)
    skip_convert = {"config_file_path", "usb_port", "serial_number"}
    return {
        key: (value if key in skip_convert else convert_value(value))
        for key, value in default_params.items()
    }


def generate_launch_description():
    args = [
        DeclareLaunchArgument("camera_name", default_value="camera"),
        DeclareLaunchArgument("depth_registration", default_value="true"),
        DeclareLaunchArgument("serial_number", default_value=""),
        DeclareLaunchArgument("usb_port", default_value=""),
        DeclareLaunchArgument("device_num", default_value="1"),
        DeclareLaunchArgument("upgrade_firmware", default_value=""),
        DeclareLaunchArgument("preset_firmware_path", default_value=""),
        DeclareLaunchArgument("load_config_json_file_path", default_value=""),
        DeclareLaunchArgument("export_config_json_file_path", default_value=""),
        DeclareLaunchArgument("uvc_backend", default_value="libuvc"),  # libuvc or v4l2
        DeclareLaunchArgument("point_cloud_qos", default_value="default"),
        DeclareLaunchArgument("enable_point_cloud", default_value="true"),
        DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
        DeclareLaunchArgument("cloud_frame_id", default_value=""),
        DeclareLaunchArgument("connection_delay", default_value="10"),
        DeclareLaunchArgument("color_width", default_value="0"),
        DeclareLaunchArgument("color_height", default_value="0"),
        DeclareLaunchArgument("color_fps", default_value="0"),
        DeclareLaunchArgument("color_format", default_value="ANY"),
        DeclareLaunchArgument("enable_color", default_value="true"),
        DeclareLaunchArgument("color_qos", default_value="default"),
        DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
        DeclareLaunchArgument(
            "enable_color_auto_exposure_priority", default_value="false"
        ),
        DeclareLaunchArgument(
            "color_rotation", default_value="-1"
        ),  # color rotation degree : 0, 90, 180, 270
        DeclareLaunchArgument("color_flip", default_value="false"),
        DeclareLaunchArgument("color_mirror", default_value="false"),
        DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
        DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
        DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
        DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
        DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"),
        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_gamma", default_value="-1"),
        DeclareLaunchArgument("color_saturation", default_value="-1"),
        DeclareLaunchArgument("color_constrast", default_value="-1"),
        DeclareLaunchArgument("color_hue", default_value="-1"),
        DeclareLaunchArgument(
            "enable_color_backlight_compenstation", default_value="false"
        ),
        DeclareLaunchArgument(
            "color_powerline_freq", default_value=""
        ),  # disable ,50hz ,60hz ,auto
        DeclareLaunchArgument("enable_color_decimation_filter", default_value="false"),
        DeclareLaunchArgument("color_decimation_filter_scale", default_value="-1"),
        DeclareLaunchArgument("depth_width", default_value="0"),
        DeclareLaunchArgument("depth_height", default_value="0"),
        DeclareLaunchArgument("depth_fps", default_value="0"),
        DeclareLaunchArgument("depth_format", default_value="ANY"),
        DeclareLaunchArgument("enable_depth", default_value="true"),
        DeclareLaunchArgument("depth_qos", default_value="default"),
        DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
        DeclareLaunchArgument(
            "enable_depth_auto_exposure_priority", default_value="false"
        ),
        DeclareLaunchArgument("depth_precision", default_value=""),
        DeclareLaunchArgument(
            "depth_rotation", default_value="-1"
        ),  # depth rotation degree : 0, 90, 180, 270
        DeclareLaunchArgument("depth_flip", default_value="false"),
        DeclareLaunchArgument("depth_mirror", default_value="false"),
        DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
        DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
        DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"),
        DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"),
        DeclareLaunchArgument("depth_brightness", default_value="-1"),
        DeclareLaunchArgument("left_ir_width", default_value="0"),
        DeclareLaunchArgument("left_ir_height", default_value="0"),
        DeclareLaunchArgument("left_ir_fps", default_value="0"),
        DeclareLaunchArgument("left_ir_format", default_value="ANY"),
        DeclareLaunchArgument("enable_left_ir", default_value="false"),
        DeclareLaunchArgument("left_ir_qos", default_value="default"),
        DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
        DeclareLaunchArgument(
            "left_ir_rotation", default_value="-1"
        ),  # left_ir rotation degree : 0, 90, 180, 270
        DeclareLaunchArgument("left_ir_flip", default_value="false"),
        DeclareLaunchArgument("left_ir_mirror", default_value="false"),
        DeclareLaunchArgument(
            "enable_left_ir_sequence_id_filter", default_value="false"
        ),
        DeclareLaunchArgument("left_ir_sequence_id_filter_id", default_value="-1"),
        DeclareLaunchArgument("right_ir_width", default_value="0"),
        DeclareLaunchArgument("right_ir_height", default_value="0"),
        DeclareLaunchArgument("right_ir_fps", default_value="0"),
        DeclareLaunchArgument("right_ir_format", default_value="ANY"),
        DeclareLaunchArgument("enable_right_ir", default_value="false"),
        DeclareLaunchArgument("right_ir_qos", default_value="default"),
        DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
        DeclareLaunchArgument(
            "right_ir_rotation", default_value="-1"
        ),  # right_ir rotation degree : 0, 90, 180, 270
        DeclareLaunchArgument("right_ir_flip", default_value="false"),
        DeclareLaunchArgument("right_ir_mirror", default_value="false"),
        DeclareLaunchArgument(
            "enable_right_ir_sequence_id_filter", default_value="false"
        ),
        DeclareLaunchArgument("right_ir_sequence_id_filter_id", default_value="-1"),
        DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
        DeclareLaunchArgument("ir_exposure", default_value="-1"),
        DeclareLaunchArgument("ir_gain", default_value="-1"),
        DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
        DeclareLaunchArgument("ir_brightness", default_value="-1"),
        DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
        DeclareLaunchArgument("enable_accel", default_value="false"),
        DeclareLaunchArgument("enable_accel_data_correction", default_value="true"),
        DeclareLaunchArgument("accel_rate", default_value="200hz"),
        DeclareLaunchArgument("accel_range", default_value="4g"),
        DeclareLaunchArgument("enable_gyro", default_value="false"),
        DeclareLaunchArgument("enable_gyro_data_correction", default_value="true"),
        DeclareLaunchArgument("gyro_rate", default_value="200hz"),
        DeclareLaunchArgument("gyro_range", default_value="1000dps"),
        DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
        DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
        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=""),
        # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
        # If you do not want to automatically enumerate network devices,
        # you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
        DeclareLaunchArgument("enumerate_net_device", default_value="false"),
        DeclareLaunchArgument("net_device_ip", default_value=""),
        DeclareLaunchArgument("net_device_port", default_value="0"),
        DeclareLaunchArgument(
            "exposure_range_mode", default_value="default"
        ),  # default, ultimate or regular
        DeclareLaunchArgument("log_level", default_value="none"),
        DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
        DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
        DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
        DeclareLaunchArgument("enable_ldp", default_value="true"),
        DeclareLaunchArgument("ldp_power_level", default_value="-1"),
        DeclareLaunchArgument("sync_mode", default_value="standalone"),
        DeclareLaunchArgument("depth_delay_us", default_value="0"),
        DeclareLaunchArgument("color_delay_us", default_value="0"),
        DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
        DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
        DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
        DeclareLaunchArgument("frames_per_trigger", default_value="2"),
        DeclareLaunchArgument("software_trigger_period", default_value="33"),  # ms
        DeclareLaunchArgument(
            "enable_ptp_config", default_value="false"
        ),  # Only for Gemini 335Le
        DeclareLaunchArgument("enable_frame_sync", default_value="true"),
        DeclareLaunchArgument("ordered_pc", default_value="false"),
        DeclareLaunchArgument("enable_depth_scale", default_value="true"),
        DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
        DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
        DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
        DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
        DeclareLaunchArgument(
            "enable_hardware_noise_removal_filter", default_value="false"
        ),
        DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
        DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
        DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
        DeclareLaunchArgument("enable_disaparity_to_depth", default_value="true"),
        DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
        DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
        DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
        DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
        DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
        DeclareLaunchArgument(
            "hardware_noise_removal_filter_threshold", default_value="-1.0"
        ),
        DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
        DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
        DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
        DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
        DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
        DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
        DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
        DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
        DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
        DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
        DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
        DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
        DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
        DeclareLaunchArgument("align_mode", default_value="SW"),
        DeclareLaunchArgument(
            "align_target_stream", default_value="COLOR"
        ),  # COLOR or DEPTH
        DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
        DeclareLaunchArgument("enable_laser", default_value="true"),
        DeclareLaunchArgument("depth_precision", default_value=""),
        DeclareLaunchArgument("device_preset", default_value="Default"),
        DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
        DeclareLaunchArgument("laser_energy_level", default_value="-1"),
        DeclareLaunchArgument("enable_sync_host_time", default_value="true"),
        DeclareLaunchArgument(
            "time_domain", default_value="global"
        ),  # global, device, system
        DeclareLaunchArgument("enable_color_undistortion", default_value="false"),
        DeclareLaunchArgument("config_file_path", default_value=""),
        DeclareLaunchArgument("enable_heartbeat", default_value="false"),
        DeclareLaunchArgument("gmsl_trigger_fps", default_value="3000"),
        DeclareLaunchArgument("enable_gmsl_trigger", default_value="false"),
        DeclareLaunchArgument("disparity_range_mode", default_value="-1"),
        DeclareLaunchArgument("disparity_search_offset", default_value="-1"),
        DeclareLaunchArgument("disparity_offset_config", default_value="false"),
        DeclareLaunchArgument("offset_index0", default_value="-1"),
        DeclareLaunchArgument("offset_index1", default_value="-1"),
        DeclareLaunchArgument(
            "frame_aggregate_mode", default_value="ANY"
        ),  # full_frame、color_frame、ANY or disable
        DeclareLaunchArgument(
            "interleave_ae_mode", default_value="laser"
        ),  # 'hdr' or 'laser'
        DeclareLaunchArgument("interleave_frame_enable", default_value="false"),
        DeclareLaunchArgument("interleave_skip_enable", default_value="false"),
        DeclareLaunchArgument(
            "interleave_skip_index", default_value="1"
        ),  # 0:skip pattern ir  1: skip flood ir
        DeclareLaunchArgument(
            "hdr_index1_laser_control", default_value="1"
        ),  # interleave_hdr_param
        DeclareLaunchArgument("hdr_index1_depth_exposure", default_value="1"),
        DeclareLaunchArgument("hdr_index1_depth_gain", default_value="16"),
        DeclareLaunchArgument("hdr_index1_ir_brightness", default_value="20"),
        DeclareLaunchArgument("hdr_index1_ir_ae_max_exposure", default_value="2000"),
        DeclareLaunchArgument("hdr_index0_laser_control", default_value="1"),
        DeclareLaunchArgument("hdr_index0_depth_exposure", default_value="7500"),
        DeclareLaunchArgument("hdr_index0_depth_gain", default_value="16"),
        DeclareLaunchArgument("hdr_index0_ir_brightness", default_value="60"),
        DeclareLaunchArgument("hdr_index0_ir_ae_max_exposure", default_value="10000"),
        DeclareLaunchArgument(
            "laser_index1_laser_control", default_value="0"
        ),  # interleave_laser_param
        DeclareLaunchArgument("laser_index1_depth_exposure", default_value="3000"),
        DeclareLaunchArgument("laser_index1_depth_gain", default_value="16"),
        DeclareLaunchArgument("laser_index1_ir_brightness", default_value="60"),
        DeclareLaunchArgument("laser_index1_ir_ae_max_exposure", default_value="17000"),
        DeclareLaunchArgument("laser_index0_laser_control", default_value="1"),
        DeclareLaunchArgument("laser_index0_depth_exposure", default_value="3000"),
        DeclareLaunchArgument("laser_index0_depth_gain", default_value="16"),
        DeclareLaunchArgument("laser_index0_ir_brightness", default_value="60"),
        DeclareLaunchArgument("laser_index0_ir_ae_max_exposure", default_value="30000"),
    ]

    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))]
    )