add dcw2 launch

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -0,0 +1,96 @@
+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
+
+
+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('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('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'),
+        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('publish_tf', default_value='true'),
+        DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
+        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_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')
+    ]
+
+    # Node configuration
+    parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
+    # Define the ComposableNode
+    compose_node = ComposableNode(
+        package='orbbec_camera',
+        plugin='orbbec_camera::OBCameraNodeDriver',
+        name=LaunchConfiguration('camera_name'),
+        namespace='',
+        parameters=parameters,
+    )
+    # Define the ComposableNodeContainer
+    container = ComposableNodeContainer(
+        name='camera_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            compose_node,
+        ],
+        output='screen',
+    )
+
+    # Launch description
+    ld = LaunchDescription(
+        args +
+        [
+            GroupAction([
+                PushRosNamespace(LaunchConfiguration('camera_name')),
+                container
+            ])
+        ]
+    )
+    return ld

orbbec_camera/launch/multi_camera.launch.py

@@ -20,22 +20,22 @@ def generate_launch_description():
     launch_file_dir = os.path.join(package_dir, 'launch')
     launch1_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, 'dabai_dcw.launch.py')
+            os.path.join(launch_file_dir, 'dabai_dcw2.launch.py')
         ),
         launch_arguments={
             'camera_name': 'camera_01',
-            'usb_port': '5-3.4.4.2.1',
+            'usb_port': '5-3.4.4.1.1',
             'device_num': '2'
         }.items()
     )
 
     launch2_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, 'dabai_dcw.launch.py')
+            os.path.join(launch_file_dir, 'dabai_dcw2.launch.py')
         ),
         launch_arguments={
             'camera_name': 'camera_02',
-            'usb_port': '5-3.4.3.1',
+            'usb_port': '5-3.4.4.3.1',
             'device_num': '2'
         }.items()
     )