diff --git a/orbbec_camera/launch/dabai_a.launch.py b/orbbec_camera/launch/dabai_a.launch.py index a69d609e..3cad471f 100644 --- a/orbbec_camera/launch/dabai_a.launch.py +++ b/orbbec_camera/launch/dabai_a.launch.py @@ -179,11 +179,9 @@ def generate_launch_description(): DeclareLaunchArgument('align_mode', default_value='HW'), 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'), diff --git a/orbbec_camera/launch/gemini345.launch.py b/orbbec_camera/launch/gemini345.launch.py index a69d609e..3cad471f 100644 --- a/orbbec_camera/launch/gemini345.launch.py +++ b/orbbec_camera/launch/gemini345.launch.py @@ -179,11 +179,9 @@ def generate_launch_description(): DeclareLaunchArgument('align_mode', default_value='HW'), 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'), diff --git a/orbbec_camera/launch/gemini345_lg.launch.py b/orbbec_camera/launch/gemini345_lg.launch.py new file mode 100644 index 00000000..a69d609e --- /dev/null +++ b/orbbec_camera/launch/gemini345_lg.launch.py @@ -0,0 +1,237 @@ +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('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('enable_color_auto_exposure', default_value='true'), + 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_contrast', default_value='-1'), + DeclareLaunchArgument('color_hue', default_value='-1'), + DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3 + DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto + 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('mean_intensity_set_point', 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('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('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='3g'), + 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='250dps'), + DeclareLaunchArgument('linear_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=''), + DeclareLaunchArgument('log_level', default_value='none'), + DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), + DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), + DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'), + 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_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_disparity_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='512'), + DeclareLaunchArgument('noise_removal_filter_max_size', default_value='240'), + 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='HW'), + 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'), + ] + + 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)) + ] + )