mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-09 06:17:46 +08:00
update to v2.0.7
This commit is contained in:
jj
@@ -1,126 +0,0 @@
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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.actions import GroupAction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.actions import Node
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from launch_ros.actions import PushRosNamespace
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from launch_ros.descriptions import ComposableNode
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def generate_launch_description():
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# Declare arguments
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args = [
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='false'),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
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DeclareLaunchArgument('product_id', default_value=''),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument('connection_delay', default_value='100'),
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DeclareLaunchArgument('color_width', default_value='640'),
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DeclareLaunchArgument('color_height', default_value='480'),
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DeclareLaunchArgument('color_fps', default_value='10'),
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DeclareLaunchArgument('color_format', default_value='RGB'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument('flip_color', default_value='false'),
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='640'),
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DeclareLaunchArgument('depth_height', default_value='480'),
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DeclareLaunchArgument('depth_fps', default_value='10'),
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DeclareLaunchArgument('depth_format', default_value='Y11'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('flip_depth', default_value='false'),
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DeclareLaunchArgument('depth_qos', default_value='default'),
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('ir_width', default_value='640'),
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DeclareLaunchArgument('ir_height', default_value='480'),
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DeclareLaunchArgument('ir_fps', default_value='10'),
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DeclareLaunchArgument('ir_format', default_value='Y10'),
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DeclareLaunchArgument('enable_ir', default_value='true'),
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DeclareLaunchArgument('flip_ir', default_value='false'),
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DeclareLaunchArgument('ir_qos', default_value='default'),
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DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument('color_info_url', default_value=''),
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
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DeclareLaunchArgument('ordered_pc', default_value='false'),
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DeclareLaunchArgument('use_hardware_time', default_value='false'),
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DeclareLaunchArgument('enable_depth_scale', default_value='true'),
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DeclareLaunchArgument('align_mode', default_value='HW'),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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]
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# Node configuration
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parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
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# get ROS_DISTRO
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ros_distro = os.environ["ROS_DISTRO"]
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if ros_distro == "foxy":
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return LaunchDescription(
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args
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+ [
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Node(
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package="orbbec_camera",
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executable="orbbec_camera_node",
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name="ob_camera_node",
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namespace=LaunchConfiguration("camera_name"),
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parameters=parameters,
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output="screen",
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)
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]
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)
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# Define the ComposableNode
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else:
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# Define the ComposableNode
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compose_node = ComposableNode(
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package="orbbec_camera",
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plugin="orbbec_camera::OBCameraNodeDriver",
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name=LaunchConfiguration("camera_name"),
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namespace="",
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parameters=parameters,
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)
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# Define the ComposableNodeContainer
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container = ComposableNodeContainer(
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name="camera_container",
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namespace="",
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package="rclcpp_components",
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executable="component_container",
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composable_node_descriptions=[
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compose_node,
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],
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output="screen",
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)
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# Launch description
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ld = LaunchDescription(
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args
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+ [
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GroupAction(
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[PushRosNamespace(LaunchConfiguration("camera_name")), container]
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)
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]
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)
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return ld
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@@ -1,126 +0,0 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace
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from launch.actions import GroupAction
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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from launch_ros.actions import Node
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import os
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def generate_launch_description():
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# Declare arguments
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args = [
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='false'),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
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DeclareLaunchArgument('product_id', default_value=''),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument('connection_delay', default_value='100'),
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DeclareLaunchArgument('color_width', default_value='640'),
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DeclareLaunchArgument('color_height', default_value='480'),
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DeclareLaunchArgument('color_fps', default_value='30'),
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DeclareLaunchArgument('color_format', default_value='RGB'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument('flip_color', default_value='false'),
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='640'),
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DeclareLaunchArgument('depth_height', default_value='480'),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument('depth_format', default_value='Y16'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('flip_depth', default_value='false'),
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DeclareLaunchArgument('depth_qos', default_value='default'),
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('ir_width', default_value='640'),
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DeclareLaunchArgument('ir_height', default_value='480'),
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DeclareLaunchArgument('ir_fps', default_value='30'),
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DeclareLaunchArgument('ir_format', default_value='Y16'),
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DeclareLaunchArgument('enable_ir', default_value='true'),
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DeclareLaunchArgument('flip_ir', default_value='false'),
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DeclareLaunchArgument('ir_qos', default_value='default'),
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DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument('color_info_url', default_value=''),
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
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DeclareLaunchArgument('ordered_pc', default_value='false'),
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DeclareLaunchArgument('use_hardware_time', default_value='false'),
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DeclareLaunchArgument('enable_depth_scale', default_value='true'),
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DeclareLaunchArgument('align_mode', default_value='HW'),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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]
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# Node configuration
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parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
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# get ROS_DISTRO
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ros_distro = os.environ["ROS_DISTRO"]
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if ros_distro == "foxy":
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return LaunchDescription(
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args
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+ [
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Node(
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package="orbbec_camera",
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executable="orbbec_camera_node",
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name="ob_camera_node",
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namespace=LaunchConfiguration("camera_name"),
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parameters=parameters,
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output="screen",
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)
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]
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)
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# Define the ComposableNode
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else:
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# Define the ComposableNode
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compose_node = ComposableNode(
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package="orbbec_camera",
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plugin="orbbec_camera::OBCameraNodeDriver",
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name=LaunchConfiguration("camera_name"),
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namespace="",
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parameters=parameters,
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)
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# Define the ComposableNodeContainer
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container = ComposableNodeContainer(
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name="camera_container",
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namespace="",
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package="rclcpp_components",
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executable="component_container",
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composable_node_descriptions=[
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compose_node,
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],
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output="screen",
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)
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# Launch description
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ld = LaunchDescription(
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args
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+ [
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GroupAction(
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[PushRosNamespace(LaunchConfiguration("camera_name")), container]
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)
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]
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)
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return ld
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@@ -1,126 +0,0 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace
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from launch.actions import GroupAction
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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from launch_ros.actions import Node
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import os
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def generate_launch_description():
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# Declare arguments
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args = [
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='false'),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
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DeclareLaunchArgument('product_id', default_value=''),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
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DeclareLaunchArgument('connection_delay', default_value='100'),
|
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DeclareLaunchArgument('color_width', default_value='640'),
|
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DeclareLaunchArgument('color_height', default_value='480'),
|
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DeclareLaunchArgument('color_fps', default_value='30'),
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DeclareLaunchArgument('color_format', default_value='RGB'),
|
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DeclareLaunchArgument('enable_color', default_value='true'),
|
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DeclareLaunchArgument('flip_color', default_value='false'),
|
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DeclareLaunchArgument('color_qos', default_value='default'),
|
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
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DeclareLaunchArgument('color_exposure', default_value='-1'),
|
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DeclareLaunchArgument('color_gain', default_value='-1'),
|
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
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DeclareLaunchArgument('depth_width', default_value='640'),
|
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DeclareLaunchArgument('depth_height', default_value='400'),
|
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DeclareLaunchArgument('depth_fps', default_value='30'),
|
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DeclareLaunchArgument('depth_format', default_value='Y11'),
|
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DeclareLaunchArgument('enable_depth', default_value='true'),
|
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DeclareLaunchArgument('flip_depth', default_value='false'),
|
||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
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DeclareLaunchArgument('ir_width', default_value='640'),
|
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DeclareLaunchArgument('ir_height', default_value='400'),
|
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DeclareLaunchArgument('ir_fps', default_value='30'),
|
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DeclareLaunchArgument('ir_format', default_value='Y10'),
|
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DeclareLaunchArgument('enable_ir', default_value='true'),
|
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DeclareLaunchArgument('flip_ir', default_value='false'),
|
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DeclareLaunchArgument('ir_qos', default_value='default'),
|
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DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
|
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
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DeclareLaunchArgument('ir_gain', default_value='-1'),
|
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DeclareLaunchArgument('publish_tf', default_value='true'),
|
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
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DeclareLaunchArgument('color_info_url', default_value=''),
|
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DeclareLaunchArgument('log_level', default_value='none'),
|
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
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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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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):
|
||||
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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
|
||||
@@ -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):
|
||||
|
||||
@@ -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
|
||||
@@ -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
|
||||
|
||||
@@ -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
|
||||
]
|
||||
)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user