i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 03:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add image transport plugin selection for color, depth, and IR streams in Gemini 330 series launch file

Browse Source
This commit is contained in:
xiexun
2025-09-02 17:06:59 +08:00
parent 88404da2a5
commit 10474bcb07
2 changed files with 62 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/launch/gemini_330_series.launch.py
+31 -4
View File
@@ -43,10 +43,28 @@ def load_parameters(context, args):
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
}
result = {}
for key, value in default_params.items():
if key in skip_convert:
result[key] = value
elif 'enable_pub_plugins' in key:
if isinstance(value, str):
if value.startswith('[') and value.endswith(']'):
try:
result[key] = yaml.safe_load(value)
except:
result[key] = [value]
else:
result[key] = [value]
elif isinstance(value, list):
result[key] = value
else:
result[key] = [str(value)]
else:
result[key] = convert_value(value)
return result
def generate_launch_description():
@@ -267,6 +285,15 @@ def generate_launch_description():
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
DeclareLaunchArgument('show_fps_enable', default_value='false'),
#color image transport plugins
DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
#depth image transport plugins
DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw", "image_transport/theora"]'),
#infra1
DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
#infra2
DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
]
def get_params(context, args):