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update to v2.0.7

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This commit is contained in:
jj
2024-10-21 18:31:11 +08:00
parent 99d35d9138
commit 0de68ca4d3
60 changed files with 1086 additions and 3763 deletions
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orbbec_camera/SDK/include/libobsensor/h/Device.h
+1 -1
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@@ -632,7 +632,7 @@ OB_EXPORT void ob_delete_camera_param_list(ob_camera_param_list *param_list, ob_
#define ob_device_info_uid ob_device_info_get_uid
#define ob_device_info_serial_number ob_device_info_get_serial_number
#define ob_device_info_firmware_version ob_device_info_get_firmware_version
#define ob_device_info_connection_type ob_device_list_get_device_connection_type
#define ob_device_info_connection_type ob_device_info_get_connection_type
#define ob_device_info_ip_address ob_device_info_get_ip_address
#define ob_device_info_hardware_version ob_device_info_get_hardware_version
#define ob_device_info_supported_min_sdk_version ob_device_info_get_supported_min_sdk_version
orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp
+1 -1
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@@ -101,7 +101,7 @@ public:
* @brief Creates a network device with the specified IP address and port.
*
* @param[in] address The IP address, ipv4 only. such as "192.168.1.10"
* @param[in] port The port number.
* @param[in] port The port number， currently only support 8090
* @return std::shared_ptr<Device> The created device object.
*/
std::shared_ptr<Device> createNetDevice(const char *address, uint16_t port) const {
orbbec_camera/SDK/include/libobsensor/hpp/Frame.hpp
+1 -1
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@@ -261,7 +261,7 @@ public:
ob_error *error = nullptr;
auto profile = ob_frame_get_stream_profile(impl_, &error);
Error::handle(&error);
return std::make_shared<StreamProfile>(profile);
return StreamProfileFactory::create(profile);
}
/**
orbbec_camera/SDK/include/libobsensor/hpp/StreamProfile.hpp
+40 -10
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@@ -9,6 +9,7 @@
#include "Types.hpp"
#include "libobsensor/h/StreamProfile.h"
#include "libobsensor/h/Error.h"
#include <iostream>
#include <memory>
@@ -19,9 +20,7 @@ protected:
const ob_stream_profile_t *impl_ = nullptr;
public:
explicit StreamProfile(const ob_stream_profile_t *impl) : impl_(impl) {}
StreamProfile(StreamProfile &streamProfile) = delete;
StreamProfile(StreamProfile &streamProfile) = delete;
StreamProfile &operator=(StreamProfile &streamProfile) = delete;
StreamProfile(StreamProfile &&streamProfile) noexcept : impl_(streamProfile.impl_) {
@@ -106,7 +105,7 @@ public:
throw std::runtime_error("Unsupported operation. Object's type is not the required type.");
}
return std::static_pointer_cast<T>(shared_from_this());
return std::dynamic_pointer_cast<T>(shared_from_this());
}
/**
@@ -123,7 +122,6 @@ public:
return std::static_pointer_cast<const T>(shared_from_this());
}
public:
// The following interfaces are deprecated and are retained here for compatibility purposes.
OBFormat format() const {
return getFormat();
@@ -132,6 +130,9 @@ public:
OBStreamType type() const {
return getType();
}
protected:
explicit StreamProfile(const ob_stream_profile_t *impl) : impl_(impl) {}
};
/**
@@ -351,6 +352,33 @@ template <typename T> bool StreamProfile::is() const {
return false;
}
class StreamProfileFactory {
public:
static std::shared_ptr<StreamProfile> create(const ob_stream_profile_t *impl) {
ob_error *error = nullptr;
const auto type = ob_stream_profile_get_type(impl, &error);
Error::handle(&error);
switch(type) {
case OB_STREAM_IR:
case OB_STREAM_IR_LEFT:
case OB_STREAM_IR_RIGHT:
case OB_STREAM_DEPTH:
case OB_STREAM_COLOR:
case OB_STREAM_VIDEO:
return std::make_shared<VideoStreamProfile>(impl);
case OB_STREAM_ACCEL:
return std::make_shared<AccelStreamProfile>(impl);
case OB_STREAM_GYRO:
return std::make_shared<GyroStreamProfile>(impl);
default: {
ob_error *err = ob_create_error(OB_STATUS_ERROR, "Unsupported stream type.", "StreamProfileFactory::create", "", OB_EXCEPTION_TYPE_INVALID_VALUE);
Error::handle(&err);
return nullptr;
}
}
}
};
class StreamProfileList {
protected:
const ob_stream_profile_list_t *impl_;
@@ -385,7 +413,7 @@ public:
ob_error *error = nullptr;
auto profile = ob_stream_profile_list_get_profile(impl_, index, &error);
Error::handle(&error);
return std::make_shared<StreamProfile>(profile);
return StreamProfileFactory::create(profile);
}
/**
@@ -403,7 +431,8 @@ public:
ob_error *error = nullptr;
auto profile = ob_stream_profile_list_get_video_stream_profile(impl_, width, height, format, fps, &error);
Error::handle(&error);
return std::make_shared<VideoStreamProfile>(profile);
auto vsp = StreamProfileFactory::create(profile);
return vsp->as<VideoStreamProfile>();
}
/**
@@ -417,7 +446,8 @@ public:
ob_error *error = nullptr;
auto profile = ob_stream_profile_list_get_accel_stream_profile(impl_, fullScaleRange, sampleRate, &error);
Error::handle(&error);
return std::make_shared<AccelStreamProfile>(profile);
auto asp = StreamProfileFactory::create(profile);
return asp->as<AccelStreamProfile>();
}
/**
@@ -431,7 +461,8 @@ public:
ob_error *error = nullptr;
auto profile = ob_stream_profile_list_get_gyro_stream_profile(impl_, fullScaleRange, sampleRate, &error);
Error::handle(&error);
return std::make_shared<GyroStreamProfile>(profile);
auto gsp = StreamProfileFactory::create(profile);
return gsp->as<GyroStreamProfile>();
}
public:
@@ -442,4 +473,3 @@ public:
};
} // namespace ob
orbbec_camera/SDK/lib/arm64/extensions/filters/libFilterProcessor.so
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orbbec_camera/SDK/lib/arm64/extensions/filters/libob_priv_filter.so
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orbbec_camera/SDK/lib/arm64/extensions/firmwareupdater/libfirmwareupdater.so
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orbbec_camera/SDK/lib/arm64/extensions/frameprocessor/libob_frame_processor.so
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orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so
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orbbec_camera/SDK/lib/x64/extensions/filters/libFilterProcessor.so
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orbbec_camera/SDK/lib/x64/extensions/filters/libob_priv_filter.so
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orbbec_camera/SDK/lib/x64/extensions/firmwareupdater/libfirmwareupdater.so
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orbbec_camera/SDK/lib/x64/extensions/frameprocessor/libob_frame_processor.so
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orbbec_camera/SDK/lib/x64/libOrbbecSDK.so
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orbbec_camera/config/camera_params.yaml
+9 -9
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@@ -1,33 +1,33 @@
# common params
depth_registration: false
depth_registration: true
enable_point_cloud: false
enable_colored_point_cloud: false
device_preset: "High Accuracy"
laser_on_off_mode: 1 # 0: off, 1: on-off, 1: off-on
laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
time_domain: "global" # global, device, system
enable_sync_host_time: false
frames_per_trigger: 2
frames_per_trigger: 1
# When 3D reconstruction mode is enabled:
# - The laser will switch to on-off mode
# - IR images without the laser will be used for SLAM localization
# - Depth images with the laser will be used because they provide better depth quality
enable_3d_reconstruction_mode: true
enable_3d_reconstruction_mode: false
# color params
enable_color: true
color_width: 640
color_height: 480
color_fps: 90
color_fps: 30
color_format: "YUYV"
enable_color_auto_exposure: false
enable_color_auto_exposure: true
color_exposure: 50 # 5ms
color_gain: -1 # -1 default
# depth params
depth_width: 640
depth_height: 480
depth_fps: 90
depth_fps: 30
depth_format: "Y16"
# ir exposure
@@ -39,12 +39,12 @@ ir_gain: 40
enable_left_ir: true
left_ir_width: 640
left_ir_height: 480
left_ir_fps: 90
left_ir_fps: 30
left_ir_format: "Y8"
#right ir params
enable_right_ir: true
right_ir_width: 640
right_ir_height: 480
right_ir_fps: 90
right_ir_fps: 30
right_ir_format: "Y8"
orbbec_camera/include/orbbec_camera/constants.h
+1 -1
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@@ -23,7 +23,7 @@
#define OB_ROS_MAJOR_VERSION 2
#define OB_ROS_MINOR_VERSION 0
#define OB_ROS_PATCH_VERSION 5
#define OB_ROS_PATCH_VERSION 7
#ifndef STRINGIFY
#define STRINGIFY(arg) #arg
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+16
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@@ -63,6 +63,7 @@
#include "orbbec_camera/image_publisher.h"
#include "jpeg_decoder.h"
#include <std_msgs/msg/string.hpp>
#include <fcntl.h>
#if defined(ROS_JAZZY) || defined(ROS_IRON)
#include <cv_bridge/cv_bridge.hpp>
@@ -94,6 +95,8 @@
(static_cast<std::ostringstream&&>(std::ostringstream() << getNamespaceStr() << "_odom_frame")) \
.str()
#define DEVICE_PATH "/dev/camsync"
namespace orbbec_camera {
using GetDeviceInfo = orbbec_camera_msgs::srv::GetDeviceInfo;
using Extrinsics = orbbec_camera_msgs::msg::Extrinsics;
@@ -129,6 +132,11 @@ const std::map<OBStreamType, OBFrameType> STREAM_TYPE_TO_FRAME_TYPE = {
{OB_STREAM_ACCEL, OB_FRAME_ACCEL},
};
typedef struct {
uint8_t mode;
uint16_t fps;
} cs_param_t;
class OBCameraNode {
public:
OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> device,
@@ -152,6 +160,11 @@ class OBCameraNode {
void startIMU();
int openSocSyncPwmTrigger(uint16_t fps);
int closeSocSyncPwmTrigger();
void startGmslTrigger();
void stopGmslTrigger();
private:
struct IMUData {
IMUData() = default;
@@ -539,6 +552,9 @@ class OBCameraNode {
int hdr_merge_gain_1_ = -1;
int hdr_merge_exposure_2_ = -1;
int hdr_merge_gain_2_ = -1;
int gmsl_trigger_fd_ = -1;
int gmsl_trigger_fps_ = -1;
bool enable_gmsl_trigger_ = false;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr filter_status_pub_;
nlohmann::json filter_status_;
orbbec_camera/launch/astra.launch.py
-126
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@@ -1,126 +0,0 @@
import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import GroupAction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from launch_ros.descriptions import ComposableNode
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='RGB'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='480'),
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('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='480'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', 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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/astra_adv.launch.py
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@@ -1,126 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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='30'),
DeclareLaunchArgument('color_format', default_value='RGB'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='480'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='480'),
DeclareLaunchArgument('ir_fps', default_value='30'),
DeclareLaunchArgument('ir_format', default_value='Y16'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', 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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/astra_embedded_s.launch.py
-126
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@@ -1,126 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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='30'),
DeclareLaunchArgument('color_format', default_value='RGB'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='30'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', 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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/astra_pro2.launch.py
-126
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@@ -1,126 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
def generate_launch_description():
# Declare arguments
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('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
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='UYVY'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='480'),
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('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='480'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', 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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/astra_stereo_u3.launch.py
-126
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@@ -1,126 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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='30'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='30'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', 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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai.launch.py
-126
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@@ -1,126 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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='30'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='30'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', 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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai_d1.launch.py
-110
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@@ -1,110 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='30'),
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_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', 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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai_dcl.py
-147
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@@ -1,147 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='360'),
DeclareLaunchArgument('color_fps', default_value='15'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='15'),
DeclareLaunchArgument('depth_format', default_value='Y14'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='15'),
DeclareLaunchArgument('ir_format', default_value='Y8'),
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('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('gyro_rate', default_value='100hz'),
DeclareLaunchArgument('gyro_range', default_value='500dps'),
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=''),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
DeclareLaunchArgument('depth_filter_config', default_value=''),
# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument('depth_work_mode', default_value=''),
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='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai_dcw.launch.py
-126
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@@ -1,126 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='360'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='360'),
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('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='480'),
DeclareLaunchArgument('ir_fps', default_value='10'),
DeclareLaunchArgument('ir_format', default_value='Y10'),
DeclareLaunchArgument('enable_ir', default_value='false'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', 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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai_dcw2.launch.py
-127
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@@ -1,127 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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('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('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('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('use_hardware_time', 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'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai_dw.launch.py
-109
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@@ -1,109 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='480'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='480'),
DeclareLaunchArgument('ir_fps', default_value='30'),
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_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai_dw2.launch.py
-109
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@@ -1,109 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='480'),
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('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='480'),
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_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai_max.launch.py
-111
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@@ -1,111 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='320'),
DeclareLaunchArgument('depth_fps', default_value='10'),
DeclareLaunchArgument('depth_format', default_value='Y12'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
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_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai_max_pro.launch.py
-127
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@@ -1,127 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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='25'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='10'),
DeclareLaunchArgument('depth_format', default_value='Y12'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
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('enable_ir_long_exposure', default_value='false'),
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('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/dabai_pro.launch.py
-109
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@@ -1,109 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='30'),
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_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/deeya.launch.py
-124
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@@ -1,124 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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='30'),
DeclareLaunchArgument('color_format', default_value='RGB'),
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', 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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='30'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/gemini2VL.launch.py
-141
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@@ -1,141 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'),
DeclareLaunchArgument('color_height', default_value='800'),
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('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('left_ir_width', default_value='1280'),
DeclareLaunchArgument('left_ir_height', default_value='800'),
DeclareLaunchArgument('left_ir_fps', default_value='10'),
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_left_ir', default_value='true'),
DeclareLaunchArgument('flip_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='1280'),
DeclareLaunchArgument('right_ir_height', default_value='800'),
DeclareLaunchArgument('right_ir_fps', default_value='10'),
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_right_ir', default_value='true'),
DeclareLaunchArgument('flip_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('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='true'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='true'),
DeclareLaunchArgument('gyro_rate', default_value='1KHZ'),
DeclareLaunchArgument('gyro_range', default_value='500dps'),
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=''),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', 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='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/gemini2XL.launch.py
-157
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@@ -1,157 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='400'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='10'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('left_ir_width', default_value='640'),
DeclareLaunchArgument('left_ir_height', default_value='400'),
DeclareLaunchArgument('left_ir_fps', default_value='10'),
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_left_ir', default_value='true'),
DeclareLaunchArgument('flip_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='640'),
DeclareLaunchArgument('right_ir_height', default_value='400'),
DeclareLaunchArgument('right_ir_fps', default_value='10'),
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_right_ir', default_value='true'),
DeclareLaunchArgument('flip_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('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('gyro_rate', default_value='100hz'),
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=''),
DeclareLaunchArgument('enumerate_net_device', default_value='false'),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
# Dimensioning
DeclareLaunchArgument('depth_work_mode', default_value=''),
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='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/gemini_330_series.launch.py
+2
View File
@@ -173,6 +173,8 @@ def generate_launch_description():
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'),
]
def get_params(context, args):
orbbec_camera/launch/gemini_e.launch.py
-125
View File
@@ -1,125 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='360'),
DeclareLaunchArgument('color_fps', default_value='30'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='360'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='480'),
DeclareLaunchArgument('ir_fps', default_value='30'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/gemini_e_lite.launch.py
-110
View File
@@ -1,110 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='360'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='480'),
DeclareLaunchArgument('ir_fps', default_value='30'),
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_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', 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('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/gemini_ew.launch.py
-126
View File
@@ -1,126 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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('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('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('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('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/gemini_ew_lite.launch.py
-113
View File
@@ -1,113 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
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('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('enable_soft_filter', 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('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+2
View File
@@ -172,6 +172,8 @@ def generate_launch_description():
DeclareLaunchArgument('topic_type', default_value='points'),
DeclareLaunchArgument('topic_name', default_value='/camera/depth_registered/points'),
DeclareLaunchArgument('use_intra_process_comms', default_value='true'),
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
]
def get_params(context, args):
orbbec_camera/launch/gemini_uw.launch.py
-127
View File
@@ -1,127 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
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
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('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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='25'),
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('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('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='10'),
DeclareLaunchArgument('depth_format', default_value='Y12'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
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('enable_ir_long_exposure', default_value='false'),
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('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# get ROS_DISTRO
ros_distro = os.environ["ROS_DISTRO"]
if ros_distro == "foxy":
return LaunchDescription(
args
+ [
Node(
package="orbbec_camera",
executable="orbbec_camera_node",
name="ob_camera_node",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
output="screen",
)
]
)
# Define the ComposableNode
else:
# Define the ComposableNode
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
compose_node,
],
output="screen",
)
# Launch description
ld = LaunchDescription(
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
)
]
)
return ld
orbbec_camera/launch/multi_camera.launch.py
+25 -6
View File
@@ -16,21 +16,39 @@ def generate_launch_description():
),
launch_arguments={
'camera_name': 'camera_01',
'usb_port': 'gmsl2-2',
'usb_port': 'gmsl2-1',
'device_num': '2',
'sync_mode': 'standalone'
'sync_mode': 'standalone',
'enable_left_ir': 'true',
'enable_right_ir': 'true',
}.items()
)
launch2_include = IncludeLaunchDescription(
# launch2_include = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
# ),
# launch_arguments={
# 'camera_name': 'camera_02',
# 'usb_port': 'gmsl2-2',
# 'device_num': '3',
# 'sync_mode': 'standalone',
# 'enable_left_ir': 'false',
# 'enable_right_ir': 'false',
# }.items()
# )
launch3_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
),
launch_arguments={
'camera_name': 'camera_02',
'camera_name': 'camera_03',
'usb_port': 'gmsl2-3',
'device_num': '2',
'sync_mode': 'standalone'
'sync_mode': 'standalone',
'enable_left_ir': 'true',
'enable_right_ir': 'true',
}.items()
)
@@ -39,7 +57,8 @@ def generate_launch_description():
# Launch description
ld = LaunchDescription([
GroupAction([launch1_include]),
GroupAction([launch2_include]),
# GroupAction([launch2_include]),
GroupAction([launch3_include]),
])
return ld
orbbec_camera/launch/multi_camera_synced.launch.py
+38 -34
View File
@@ -18,58 +18,62 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "front_camera",
"usb_port": "2-6",
"device_num": "3",
"sync_mode": "software_triggering",
"usb_port": "gmsl2-1",
"device_num": "2",
"sync_mode": "hardware_triggering",
"config_file_path": config_file_path,
"enable_gmsl_trigger": "true",
}.items(),
)
left_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series.launch.py")
),
launch_arguments={
"camera_name": "left_camera",
"usb_port": "2-1.2.1",
"device_num": "3",
"sync_mode": "hardware_triggering",
"config_file_path": config_file_path,
}.items(),
)
rear_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series.launch.py")
),
launch_arguments={
"camera_name": "rear_camera",
"usb_port": "2-3",
"device_num": "3",
"sync_mode": "hardware_triggering",
"config_file_path": config_file_path,
}.items(),
)
# left_camera = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(launch_file_dir, "gemini_330_series.launch.py")
# ),
# launch_arguments={
# "camera_name": "left_camera",
# "usb_port": "gmsl2-2",
# "device_num": "3",
# "sync_mode": "secondary",
# "config_file_path": config_file_path,
# "enable_gmsl_trigger": "false",
# }.items(),
# )
right_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series.launch.py")
),
launch_arguments={
"camera_name": "right_camera",
"usb_port": "2-7",
"device_num": "3",
"usb_port": "gmsl2-3",
"device_num": "2",
"sync_mode": "hardware_triggering",
"config_file_path": config_file_path,
"enable_gmsl_trigger": "false",
}.items(),
)
# rear_camera = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(launch_file_dir, "gemini_330_series.launch.py")
# ),
# launch_arguments={
# "camera_name": "rear_camera",
# "usb_port": "gmsl2-4",
# "device_num": "3",
# "sync_mode": "secondary",
# "config_file_path": config_file_path,
# "enable_gmsl_trigger": "false",
# }.items(),
# )
# Launch description
ld = LaunchDescription(
[
GroupAction([rear_camera]),
GroupAction([left_camera]),
GroupAction([right_camera]),
TimerAction(period=3.0, actions=[GroupAction([front_camera])]),
# The primary camera should be launched at last
# TimerAction(period=0.5, actions=[GroupAction([rear_camera])]),
TimerAction(period=0.5, actions=[GroupAction([right_camera])]),
# TimerAction(period=0.5, actions=[GroupAction([left_camera])]),
TimerAction(period=0.5, actions=[GroupAction([front_camera])]),
# The primary camera should be launched at last
]
)
orbbec_camera/package.xml
+1 -1
View File
@@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>orbbec_camera</name>
<version>2.0.5</version>
<version>2.0.7</version>
<description>Orbbec Camera package</description>
<maintainer email="[email protected]">Joe Dong</maintainer>
<license>Apache-2.0</license>
orbbec_camera/src/ob_camera_node.cpp
+83 -15
View File
@@ -472,7 +472,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
// set depth sensor to filter
filter_list_ = depth_sensor->getRecommendedFilters();
if (!filter_list_.empty()) {
RCLCPP_ERROR(logger_, "Failed to get depth sensor filter list");
// RCLCPP_ERROR(logger_, "Failed to get depth sensor filter list");
return;
}
for (size_t i = 0; i < filter_list_.size(); i++) {
@@ -552,14 +552,14 @@ void OBCameraNode::setupDepthPostProcessFilter() {
} else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) {
auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>();
OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams();
RCLCPP_INFO_STREAM(logger_, "Default noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(
logger_, "Default noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_;
RCLCPP_INFO_STREAM(logger_, "Set noise removal filter params: "
<< "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
RCLCPP_INFO_STREAM(logger_,
"Set noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) {
noise_removal_filter->setFilterParams(params);
}
@@ -568,11 +568,11 @@ void OBCameraNode::setupDepthPostProcessFilter() {
hdr_merge_gain_2_ != -1) {
auto hdr_merge_filter = filter->as<ob::HdrMerge>();
hdr_merge_filter->enable(true);
RCLCPP_INFO_STREAM(logger_, "Set HDR merge filter params: "
<< "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
RCLCPP_INFO_STREAM(
logger_, "Set HDR merge filter params: " << "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_);
auto config = OBHdrConfig();
config.enable = true;
config.exposure_1 = hdr_merge_exposure_1_;
@@ -784,6 +784,7 @@ void OBCameraNode::startStreams() {
pipeline_.reset();
}
pipeline_ = std::make_unique<ob::Pipeline>(device_);
try {
setupPipelineConfig();
pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
@@ -924,6 +925,69 @@ void OBCameraNode::stopIMU() {
}
}
// cs_param_t rd_par = {0, 0}, param = {1, 3000}; //30
int OBCameraNode::openSocSyncPwmTrigger(uint16_t fps) {
const char *devicePath = DEVICE_PATH;
const int TRIGGER_MODE_ENABLE = 1;
const int TRIGGER_MODE_DISABLE = 0;
int ret = -1;
cs_param_t param = {TRIGGER_MODE_ENABLE, fps};
cs_param_t rd_par = {TRIGGER_MODE_DISABLE, 0};
if (access(devicePath, F_OK) != 0) {
std::cerr << "Device node " << devicePath << " does not exist." << std::endl;
return ret;
}
gmsl_trigger_fd_ = open(DEVICE_PATH, O_RDWR);
if (gmsl_trigger_fd_ < 0) {
perror("open device failed\n");
return gmsl_trigger_fd_;
}
std::cout << "Written param mode=" << param.mode << ", fps=" << param.fps << std::endl;
ret = write(gmsl_trigger_fd_, &param, sizeof(param));
if (ret < 0) {
perror("write device failed\n");
close(gmsl_trigger_fd_);
return ret;
}
ret = read(gmsl_trigger_fd_, &rd_par, sizeof(rd_par));
if (ret < 0) {
perror("read device failed\n");
close(gmsl_trigger_fd_);
return ret;
}
std::cout << "Read param mode=" << rd_par.mode << ", fps=" << rd_par.fps << std::endl;
std::cout << "Start hardware triggering..." << std::endl;
return 0;
}
int OBCameraNode::closeSocSyncPwmTrigger() {
if (gmsl_trigger_fd_ >= 0) {
close(gmsl_trigger_fd_);
gmsl_trigger_fd_ = -1; // Reset file descriptors
std::cout << "close camSync success" << std::endl;
return 0;
}
return -1;
}
void OBCameraNode::startGmslTrigger() {
if (gmsl_trigger_fps_ > 0 && enable_gmsl_trigger_) {
RCLCPP_WARN_STREAM(logger_, "Start HardwareTrigger by soc-trigger-source. gmsl_trigger_fps_: "
<< gmsl_trigger_fps_);
openSocSyncPwmTrigger(gmsl_trigger_fps_);
} else {
RCLCPP_WARN_STREAM(logger_,
"Start HardwareTrigger by soc-trigger-source. gmsl_trigger_fps_ illegal: "
<< gmsl_trigger_fps_);
}
}
void OBCameraNode::stopGmslTrigger() { closeSocSyncPwmTrigger(); }
void OBCameraNode::setupDefaultImageFormat() {
format_[DEPTH] = OB_FORMAT_Y16;
format_str_[DEPTH] = "Y16";
@@ -1131,6 +1195,8 @@ void OBCameraNode::getParameters() {
long software_trigger_period = 33;
setAndGetNodeParameter<long>(software_trigger_period, "software_trigger_period", 33);
software_trigger_period_ = std::chrono::milliseconds(software_trigger_period);
setAndGetNodeParameter<int>(gmsl_trigger_fps_, "gmsl_trigger_fps", 3000);
setAndGetNodeParameter<bool>(enable_gmsl_trigger_, "enable_gmsl_trigger", false);
}
void OBCameraNode::setupTopics() {
@@ -1667,10 +1733,11 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
auto pid = device_info->getPid();
auto color_frame = frame_set->getFrame(OB_FRAME_COLOR);
if (isGemini335PID(pid)) {
bool depth_aligned = false;
depth_frame = processDepthFrameFilter(depth_frame);
if(depth_frame)
{ frame_set->pushFrame(depth_frame);}
bool depth_aligned = false;
if (depth_frame) {
frame_set->pushFrame(depth_frame);
}
if (depth_registration_ && align_filter_ && depth_frame && color_frame) {
if (auto new_frame = align_filter_->process(frame_set)) {
auto new_frame_set = new_frame->as<ob::FrameSet>();
@@ -1986,6 +2053,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
} else {
memcpy(image.data, video_frame->getData(), video_frame->getDataSize());
}
if (stream_index == DEPTH) {
auto depth_scale = video_frame->as<ob::DepthFrame>()->getValueScale();
image = image * depth_scale;
orbbec_camera/src/ob_camera_node_driver.cpp
+7
View File
@@ -104,6 +104,7 @@ OBCameraNodeDriver::~OBCameraNodeDriver() {
reset_device_cond_.notify_all();
reset_device_thread_->join();
}
ob_camera_node_->stopGmslTrigger();
}
void OBCameraNodeDriver::init() {
@@ -415,6 +416,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
device_connected_ = true;
device_info_ = device_->getDeviceInfo();
serial_number_ = device_info_->getSerialNumber();
@@ -490,6 +492,11 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
end_time = std::chrono::high_resolution_clock::now();
time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);
RCLCPP_INFO_STREAM(logger_, "Initialize device cost " << time_cost.count() << " ms");
auto pid = device->getDeviceInfo()->getPid();
if (GEMINI_335LG_PID == pid) {
ob_camera_node_->startGmslTrigger();
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << e.getMessage());
start_device_failed = true;
orbbec_camera/src/ros_service.cpp
+2 -2
View File
@@ -459,9 +459,9 @@ void OBCameraNode::setLaserEnableCallback(
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header;
(void)response;
bool laser_enable = request->data;
int laser_enable = request->data? 1 : 0;
try {
device_->setBoolProperty(OB_PROP_LASER_BOOL, laser_enable);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
orbbec_camera/tools/multi_save_rgbir_node.hpp
+4 -4
View File
@@ -24,10 +24,10 @@ class MultiCameraSubscriber : public rclcpp::Node {
int vid = device_info->vid();
int pid = device_info->pid();
serial_numbers_[usb_port] = serial;
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":vid: " << std::hex << vid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":pid: " << std::hex << pid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), ":usb_port: " << usb_port);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_save_rgbir_node"), ":vid: " << std::hex << vid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_save_rgbir_node"), ":pid: " << std::hex << pid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_save_rgbir_node"), ":serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_save_rgbir_node"), ":usb_port: " << usb_port);
color_frame_counters_[count] = 0;
ir_frame_counters_[count] = 0;
count++;