mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-08 05:47:45 +08:00
Update OrbbecSDK_ROS2 to v2.3.0
This commit is contained in:
jj
@@ -0,0 +1,51 @@
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# Ob_benchmark tool
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> The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble)
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## Usage Instructions
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### Tool Configuration ([start_benchmark_params.json](../../config/tools/startbenchmark/start_benchmark_params.json))
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```json
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{
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"start_benchmark_params": {
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"camera_name": [
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"camera_01",
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"camera_02",
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"camera_03",
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"camera_04"
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],
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"process_name": "component_conta",
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"switch_cycle": 300,
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"test_cycle": 1,
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"skip_number": 30
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}
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}
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```
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* `camera_name`: Names of the cameras to be configured. Example: `"camera_01"`, `"camera_02"`, etc.
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* `process_name`: The name of the process to be monitored. For example, `"component_conta"` will monitor the data of the container process.
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* `switch_cycle`: The cycle time for switching configurations, in seconds. For example, setting it to `300` means the configuration will switch every 300 seconds.
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* `test_cycle`: The testing cycle, in seconds. For example, setting it to `1` means the tool will collect data for the monitored process every 1 second.
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* `skip_number`: The number of data points to skip. For example, setting it to `30` means that the first 30 data points will be ignored.
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### Camera configuration (launch files)
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In the launch folder, there are multiple\.launch.py files (`ob_benchmark_0.launch.py`, `ob_benchmark_1.launch.py`, ..., `ob_benchmark_19.launch.py`). Each file corresponds to a different camera configuration.
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### Running the ob_benchmark tool
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To run the tool, use the following commands:
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```bash
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source install/setup.bash
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ros2 run orbbec_camera ob_benchmark_node
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```
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### Output Data Files
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The output data files will be stored in the ob_benchmark folder with filenames like `0.csv`, `1.csv`, ..., 19.csv. For example:
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* `0.csv` contains data from the `ob_benchmark_0.launch.py` configuration.
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* `1.csv` contains data from the `ob_benchmark_1.launch.py` configuration.
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@@ -0,0 +1,265 @@
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import os
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import yaml
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
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from launch_ros.descriptions import ComposableNode
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from launch.conditions import UnlessCondition
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from launch_ros.actions import LoadComposableNodes
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def load_yaml(file_path):
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with open(file_path, 'r') as f:
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return yaml.safe_load(f)
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def merge_params(default_params, yaml_params):
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for key, value in yaml_params.items():
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if key in default_params:
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default_params[key] = value
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return default_params
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def convert_value(value):
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if isinstance(value, str):
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try:
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return int(value)
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except ValueError:
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pass
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try:
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return float(value)
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except ValueError:
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pass
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if value.lower() == 'true':
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return True
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elif value.lower() == 'false':
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return False
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return value
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def load_parameters(context, args):
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default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
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config_file_path = LaunchConfiguration('config_file_path').perform(context)
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if config_file_path:
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yaml_params = load_yaml(config_file_path)
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default_params = merge_params(default_params, yaml_params)
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skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
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return {
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key: (value if key in skip_convert else convert_value(value))
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for key, value in default_params.items()
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}
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def generate_launch_description():
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args = [
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='true'),
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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('uvc_backend', default_value='libuvc'),#libuvc or v4l2
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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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('connection_delay', default_value='10'),
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DeclareLaunchArgument('color_width', default_value='0'),
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DeclareLaunchArgument('color_height', default_value='0'),
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DeclareLaunchArgument('color_fps', default_value='0'),
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DeclareLaunchArgument('color_format', default_value='ANY'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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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('color_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('color_brightness', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='0'),
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DeclareLaunchArgument('depth_height', default_value='0'),
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DeclareLaunchArgument('depth_fps', default_value='0'),
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DeclareLaunchArgument('depth_format', default_value='ANY'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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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('left_ir_width', default_value='0'),
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DeclareLaunchArgument('left_ir_height', default_value='0'),
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DeclareLaunchArgument('left_ir_fps', default_value='0'),
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DeclareLaunchArgument('left_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_left_ir', default_value='false'),
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DeclareLaunchArgument('left_ir_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_width', default_value='0'),
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DeclareLaunchArgument('right_ir_height', default_value='0'),
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DeclareLaunchArgument('right_ir_fps', default_value='0'),
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DeclareLaunchArgument('right_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_right_ir', default_value='false'),
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DeclareLaunchArgument('right_ir_qos', default_value='default'),
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DeclareLaunchArgument('right_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('ir_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_brightness', default_value='-1'),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
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DeclareLaunchArgument('enable_accel', default_value='false'),
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DeclareLaunchArgument('accel_rate', default_value='200hz'),
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DeclareLaunchArgument('accel_range', default_value='4g'),
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DeclareLaunchArgument('enable_gyro', default_value='false'),
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DeclareLaunchArgument('gyro_rate', default_value='200hz'),
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DeclareLaunchArgument('gyro_range', default_value='1000dps'),
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DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
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DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
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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_hardware_d2d', default_value='true'),
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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('sync_mode', default_value='standalone'),
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DeclareLaunchArgument('depth_delay_us', default_value='0'),
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DeclareLaunchArgument('color_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
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DeclareLaunchArgument('frames_per_trigger', default_value='2'),
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DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
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DeclareLaunchArgument('enable_frame_sync', default_value='true'),
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DeclareLaunchArgument('ordered_pc', default_value='false'),
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DeclareLaunchArgument('enable_depth_scale', default_value='true'),
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DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
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DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
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DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
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DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='true'),
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DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
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DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
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DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
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DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
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DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
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DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
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DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
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DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
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DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
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DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
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DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
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DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
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DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
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DeclareLaunchArgument('align_mode', default_value='SW'),
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DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
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DeclareLaunchArgument('enable_laser', default_value='true'),
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument('device_preset', default_value='Default'),
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DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
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DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
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DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
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DeclareLaunchArgument('config_file_path', default_value=''),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
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DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
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DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
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DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
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DeclareLaunchArgument('disparity_offset_config', default_value='false'),
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DeclareLaunchArgument('offset_index0', default_value='-1'),
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DeclareLaunchArgument('offset_index1', default_value='-1'),
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DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
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DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
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DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
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DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
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DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
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DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
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DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
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DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
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DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
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DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
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DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
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DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
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DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
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DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
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DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
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DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
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DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
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DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
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DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
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DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
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DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
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DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
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DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
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DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
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DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
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DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
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DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
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DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
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]
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def get_params(context, args):
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return [load_parameters(context, args)]
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def create_node_action(context, args):
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params = get_params(context, args)
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ros_distro = os.environ.get("ROS_DISTRO", "humble")
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if ros_distro == "foxy":
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return [
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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=params,
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output="screen",
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)
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]
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else:
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attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
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component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
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orbbec_container = Node(
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name=component_container_name_arg,
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package='rclcpp_components',
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executable='component_container_mt',
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output='screen',
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condition=UnlessCondition(attach_to_shared_component_container_arg)
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)
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return [
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orbbec_container,
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LoadComposableNodes(
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target_container=component_container_name_arg,
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composable_node_descriptions=[
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ComposableNode(
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namespace=LaunchConfiguration("camera_name"),
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name=LaunchConfiguration("camera_name"),
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package='orbbec_camera',
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plugin='orbbec_camera::OBCameraNodeDriver',
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parameters=params,
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extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
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)
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]
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)
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]
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return LaunchDescription(
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args + [
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OpaqueFunction(function=lambda context: create_node_action(context, args))
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]
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)
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@@ -0,0 +1,197 @@
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import os
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from ament_index_python.packages import get_package_share_directory
|
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from launch import LaunchDescription
|
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from launch_ros.actions import Node,LoadComposableNodes
|
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from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
|
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.actions import DeclareLaunchArgument
|
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from launch.conditions import UnlessCondition, IfCondition
|
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from launch.substitutions import LaunchConfiguration
|
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from launch.substitutions import TextSubstitution
|
||||
from launch_ros.descriptions import ComposableNode
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|
||||
def load_yaml(file_path):
|
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with open(file_path, 'r') as f:
|
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return yaml.safe_load(f)
|
||||
|
||||
|
||||
def merge_params(default_params, yaml_params):
|
||||
for key, value in yaml_params.items():
|
||||
if key in default_params:
|
||||
default_params[key] = value
|
||||
return default_params
|
||||
|
||||
|
||||
def convert_value(value):
|
||||
if isinstance(value, str):
|
||||
try:
|
||||
return int(value)
|
||||
except ValueError:
|
||||
pass
|
||||
try:
|
||||
return float(value)
|
||||
except ValueError:
|
||||
pass
|
||||
if value.lower() == 'true':
|
||||
return True
|
||||
elif value.lower() == 'false':
|
||||
return False
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||||
return value
|
||||
|
||||
|
||||
def load_parameters(context, args):
|
||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
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config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
||||
if config_file_path:
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yaml_params = load_yaml(config_file_path)
|
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default_params = merge_params(default_params, yaml_params)
|
||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
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||||
return {
|
||||
key: (value if key in skip_convert else convert_value(value))
|
||||
for key, value in default_params.items()
|
||||
}
|
||||
def generate_launch_description():
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||||
# Include launch files
|
||||
package_dir = get_package_share_directory("orbbec_camera")
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||||
launch_file_dir = os.path.join(package_dir, "examples/benchmark")
|
||||
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||||
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
|
||||
component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
|
||||
|
||||
shared_orbbec_container = Node(
|
||||
name=component_container_name_arg,
|
||||
package="rclcpp_components",
|
||||
executable="component_container_mt",
|
||||
output="screen",
|
||||
condition=UnlessCondition(attach_to_shared_component_container_arg),
|
||||
)
|
||||
start_benchmark = LoadComposableNodes(
|
||||
target_container=component_container_name_arg,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
namespace="start_benchmark",
|
||||
name="start_benchmark",
|
||||
package='orbbec_camera',
|
||||
plugin='orbbec_camera::tools::StartBenchmark',
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
attach_to_shared_component_container_arg = TextSubstitution(text="true")
|
||||
|
||||
args = [
|
||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),
|
||||
DeclareLaunchArgument('depth_registration', default_value='false'),
|
||||
DeclareLaunchArgument('color_width', default_value='848'),
|
||||
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('depth_width', default_value='848'),
|
||||
DeclareLaunchArgument('depth_height', default_value='480'),
|
||||
DeclareLaunchArgument('depth_fps', default_value='30'),
|
||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
||||
DeclareLaunchArgument('left_ir_width', default_value='848'),
|
||||
DeclareLaunchArgument('left_ir_height', default_value='480'),
|
||||
DeclareLaunchArgument('left_ir_fps', default_value='30'),
|
||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
||||
DeclareLaunchArgument('enable_left_ir', default_value='true'),
|
||||
DeclareLaunchArgument('right_ir_width', default_value='848'),
|
||||
DeclareLaunchArgument('right_ir_height', default_value='480'),
|
||||
DeclareLaunchArgument('right_ir_fps', default_value='30'),
|
||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
||||
DeclareLaunchArgument('enable_right_ir', default_value='true'),
|
||||
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
|
||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
||||
]
|
||||
launch1_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_01",
|
||||
"usb_port": "2-7",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
launch2_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_02",
|
||||
"usb_port": "2-2",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
launch3_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_03",
|
||||
"usb_port": "2-1",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
launch4_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_04",
|
||||
"usb_port": "2-3",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
delayed_left_camera = TimerAction(
|
||||
period=2.0,
|
||||
actions=args+[launch1_include],
|
||||
)
|
||||
delayed_right_camera = TimerAction(
|
||||
period=4.0,
|
||||
actions=args+[launch2_include],
|
||||
)
|
||||
delayed_rear_camera = TimerAction(
|
||||
period=6.0,
|
||||
actions=args+[launch3_include],
|
||||
)
|
||||
delayed_front_camera = TimerAction(
|
||||
period=8.0,
|
||||
actions=args+[launch4_include],
|
||||
)
|
||||
ld = LaunchDescription(
|
||||
[
|
||||
shared_orbbec_container,
|
||||
start_benchmark,
|
||||
delayed_left_camera,
|
||||
delayed_right_camera,
|
||||
delayed_rear_camera,
|
||||
delayed_front_camera,
|
||||
]
|
||||
)
|
||||
|
||||
return ld
|
||||
@@ -0,0 +1,197 @@
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node,LoadComposableNodes
|
||||
from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.conditions import UnlessCondition, IfCondition
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.substitutions import TextSubstitution
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
|
||||
def load_yaml(file_path):
|
||||
with open(file_path, 'r') as f:
|
||||
return yaml.safe_load(f)
|
||||
|
||||
|
||||
def merge_params(default_params, yaml_params):
|
||||
for key, value in yaml_params.items():
|
||||
if key in default_params:
|
||||
default_params[key] = value
|
||||
return default_params
|
||||
|
||||
|
||||
def convert_value(value):
|
||||
if isinstance(value, str):
|
||||
try:
|
||||
return int(value)
|
||||
except ValueError:
|
||||
pass
|
||||
try:
|
||||
return float(value)
|
||||
except ValueError:
|
||||
pass
|
||||
if value.lower() == 'true':
|
||||
return True
|
||||
elif value.lower() == 'false':
|
||||
return False
|
||||
return value
|
||||
|
||||
|
||||
def load_parameters(context, args):
|
||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
||||
if config_file_path:
|
||||
yaml_params = load_yaml(config_file_path)
|
||||
default_params = merge_params(default_params, yaml_params)
|
||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
||||
return {
|
||||
key: (value if key in skip_convert else convert_value(value))
|
||||
for key, value in default_params.items()
|
||||
}
|
||||
def generate_launch_description():
|
||||
# Include launch files
|
||||
package_dir = get_package_share_directory("orbbec_camera")
|
||||
launch_file_dir = os.path.join(package_dir, "examples/benchmark")
|
||||
|
||||
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
|
||||
component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
|
||||
|
||||
shared_orbbec_container = Node(
|
||||
name=component_container_name_arg,
|
||||
package="rclcpp_components",
|
||||
executable="component_container_mt",
|
||||
output="screen",
|
||||
condition=UnlessCondition(attach_to_shared_component_container_arg),
|
||||
)
|
||||
start_benchmark = LoadComposableNodes(
|
||||
target_container=component_container_name_arg,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
namespace="start_benchmark",
|
||||
name="start_benchmark",
|
||||
package='orbbec_camera',
|
||||
plugin='orbbec_camera::tools::StartBenchmark',
|
||||
)
|
||||
]
|
||||
)
|
||||
|
||||
attach_to_shared_component_container_arg = TextSubstitution(text="true")
|
||||
|
||||
args = [
|
||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),
|
||||
DeclareLaunchArgument('depth_registration', default_value='false'),
|
||||
DeclareLaunchArgument('color_width', default_value='848'),
|
||||
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('depth_width', default_value='848'),
|
||||
DeclareLaunchArgument('depth_height', default_value='480'),
|
||||
DeclareLaunchArgument('depth_fps', default_value='30'),
|
||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
||||
DeclareLaunchArgument('left_ir_width', default_value='848'),
|
||||
DeclareLaunchArgument('left_ir_height', default_value='480'),
|
||||
DeclareLaunchArgument('left_ir_fps', default_value='30'),
|
||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
||||
DeclareLaunchArgument('enable_left_ir', default_value='true'),
|
||||
DeclareLaunchArgument('right_ir_width', default_value='848'),
|
||||
DeclareLaunchArgument('right_ir_height', default_value='480'),
|
||||
DeclareLaunchArgument('right_ir_fps', default_value='30'),
|
||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
||||
DeclareLaunchArgument('enable_right_ir', default_value='true'),
|
||||
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
|
||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='true'),
|
||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
||||
]
|
||||
launch1_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_01",
|
||||
"usb_port": "2-7",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
launch2_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_02",
|
||||
"usb_port": "2-2",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
launch3_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_03",
|
||||
"usb_port": "2-1",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
launch4_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_04",
|
||||
"usb_port": "2-3",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
delayed_left_camera = TimerAction(
|
||||
period=2.0,
|
||||
actions=args+[launch1_include],
|
||||
)
|
||||
delayed_right_camera = TimerAction(
|
||||
period=4.0,
|
||||
actions=args+[launch2_include],
|
||||
)
|
||||
delayed_rear_camera = TimerAction(
|
||||
period=6.0,
|
||||
actions=args+[launch3_include],
|
||||
)
|
||||
delayed_front_camera = TimerAction(
|
||||
period=8.0,
|
||||
actions=args+[launch4_include],
|
||||
)
|
||||
ld = LaunchDescription(
|
||||
[
|
||||
shared_orbbec_container,
|
||||
start_benchmark,
|
||||
delayed_left_camera,
|
||||
delayed_right_camera,
|
||||
delayed_rear_camera,
|
||||
delayed_front_camera,
|
||||
]
|
||||
)
|
||||
|
||||
return ld
|
||||
Reference in New Issue
Block a user