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fix: update launch files to standardize device preset and enhance plugin parameter handling

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This commit is contained in:
ob-yalian
2025-11-03 09:30:07 +08:00
parent ec73da0b21
commit 0b2b33d138
5 changed files with 128 additions and 21 deletions
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orbbec_camera/launch/dabai_a.launch.py
+32 -5
View File
@@ -43,10 +43,28 @@ def load_parameters(context, args):
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()
}
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():
@@ -180,13 +198,22 @@ def generate_launch_description():
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset', default_value='Standard'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
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'),
#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"]'),
#infra1
DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
#infra2
DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
]
def get_params(context, args):
orbbec_camera/launch/dabai_al.launch.py
+32 -5
View File
@@ -43,10 +43,28 @@ def load_parameters(context, args):
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()
}
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():
@@ -181,7 +199,7 @@ def generate_launch_description():
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('device_preset', default_value='Standard'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
@@ -189,6 +207,15 @@ def generate_launch_description():
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
#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"]'),
#infra1
DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
#infra2
DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
]
def get_params(context, args):
orbbec_camera/launch/gemini345.launch.py
+31 -5
View File
@@ -43,11 +43,28 @@ def load_parameters(context, args):
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()
}
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():
args = [
@@ -180,13 +197,22 @@ def generate_launch_description():
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset', default_value='Standard'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
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'),
#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"]'),
#infra1
DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
#infra2
DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
]
def get_params(context, args):
orbbec_camera/launch/gemini345_lg.launch.py
+32 -5
View File
@@ -43,10 +43,28 @@ def load_parameters(context, args):
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()
}
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():
@@ -181,7 +199,7 @@ def generate_launch_description():
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('device_preset', default_value='Standard'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
@@ -189,6 +207,15 @@ def generate_launch_description():
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
#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"]'),
#infra1
DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
#infra2
DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
]
def get_params(context, args):
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
View File
@@ -293,7 +293,7 @@ def generate_launch_description():
#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", "image_transport/theora"]'),
DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw"]'),
#infra1
DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
#infra2