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Big refactoring code

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* Removal of unnecessary files
* Optimized multi-camera launch
* Explicitly list the parameters in the launch file
This commit is contained in:
默存
2023-02-06 17:26:10 +08:00
parent 04e4d4151e
commit 202719bd8c
59 changed files with 4931 additions and 806 deletions
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orbbec_camera/launch/astra.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="RGB"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra_adv.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y16"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y16"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra_embedded_s.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y16"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y16"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra_mini.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="RGB"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra_mini_pro.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra_plus.launch.py
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from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python import get_package_share_directory
def generate_launch_description():
ob_params_file = (
get_package_share_directory("orbbec_camera") + "/params/astra_plus_params.yaml"
)
return LaunchDescription(
[
Node(
package="orbbec_camera",
namespace="camera",
name="camera",
executable="orbbec_camera_node",
output="screen",
parameters=[ob_params_file],
),
]
)
orbbec_camera/launch/astra_pro_plus.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="RGB"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/astra_stereo_u3.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/dabai.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/dabai_d1.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
]
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/dabai_dcw.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/dabai_dw.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/deeya.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/femto.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y16"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y16"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/femto.luanch.py
-21
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from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python import get_package_share_directory
def generate_launch_description():
ob_params_file = (
get_package_share_directory("orbbec_camera") + "/params/femto_params.yaml"
)
return LaunchDescription(
[
Node(
package="orbbec_camera",
namespace="camera",
name="camera",
executable="orbbec_camera_node",
output="screen",
parameters=[ob_params_file],
),
]
)
orbbec_camera/launch/femto_w.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y16"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y16"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/gemini.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/gemini2.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y14"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="400"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y8"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/gemini_e.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="MJPG"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/multi_camera.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="3d_sensor" default="astra"/>
<!-- stereo_s_u3, astrapro, astra -->
<arg name="camera1_prefix" default="01"/>
<arg name="camera2_prefix" default="02"/>
<arg name="camera1_serila_number" default="ADA611300CE"/>
<arg name="camera2_serila_number" default="sn123456789"/>
<arg name="device_num" default="2"/>
<node name="camera" pkg="orbbec_camera" type="ob_cleanup_shm_node" output="screen"/>
<include file="$(find-pkg-share orbbec_camera)/launch/$(arg 3d_sensor).launch.xml">
<arg name="camera_name" value="$(var camera_name)_$(var camera1_prefix)"/>
<arg name="serial_number" value="$(var camera1_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
<include file="$(ind-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
<arg name="camera_name" value="$(var camera_name)_$(var camera2_prefix)"/>
<arg name="serial_number" value="$(var camera2_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
args="0 0 0 0 0 0 camera01_link camera02_link"/>
</launch>
orbbec_camera/launch/ob_camera.launch.py
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from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python import get_package_share_directory
def generate_launch_description():
ob_params_file = (
get_package_share_directory("orbbec_camera")
+ "/params/ob_camera_params.yaml"
)
return LaunchDescription(
[
Node(
package="orbbec_camera",
namespace="camera",
name="camera",
executable="orbbec_camera_node",
output="screen",
parameters=[ob_params_file],
),
]
)
orbbec_camera/launch/ob_camera.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="depth_registration" default="false"/>
<arg name="serial_number" default=""/>
<arg name="device_num" default="1"/>
<arg name="vendor_id" default="0x2bc5"/>
<arg name="product_id" default=""/>
<arg name="enable_point_cloud" default="true"/>
<arg name="enable_colored_point_cloud" default="false"/>
<arg name="point_cloud_qos" default="default"/>
<arg name="connection_delay" default="100"/>
<arg name="color_width" default="640"/>
<arg name="color_height" default="480"/>
<arg name="color_fps" default="30"/>
<arg name="color_format" default="RGB"/>
<arg name="enable_color" default="true"/>
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="480"/>
<arg name="depth_fps" default="30"/>
<arg name="depth_format" default="Y11"/>
<arg name="enable_depth" default="true"/>
<arg name="flip_depth" default="false"/>
<arg name="depth_qos" default="default"/>
<arg name="depth_camera_info_qos" default="default"/>
<arg name="ir_width" default="640"/>
<arg name="ir_height" default="480"/>
<arg name="ir_fps" default="30"/>
<arg name="ir_format" default="Y10"/>
<arg name="enable_ir" default="true"/>
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="color_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_publish_extrinsic" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
<param name="camera_name" value="$(var camera_name)"/>
<param name="depth_registration" value="$(var depth_registration)"/>
<param name="serial_number" value="$(var serial_number)"/>
<param name="device_num" value="$(var device_num)"/>
<param name="vendor_id" value="$(var vendor_id)"/>
<param name="product_id" value="$(var product_id)"/>
<param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
<param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
<param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
<param name="connection_delay" value="$(var connection_delay)"/>
<param name="color_width" value="$(var color_width)"/>
<param name="color_height" value="$(var color_height)"/>
<param name="color_fps" value="$(var color_fps)"/>
<param name="color_format" value="$(var color_format)"/>
<param name="enable_color" value="$(var enable_color)"/>
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
<param name="depth_format" value="$(var depth_format)"/>
<param name="flip_depth" value="$(var flip_depth)"/>
<param name="enable_depth" value="$(var enable_depth)"/>
<param name="depth_qos" value="$(var depth_qos)"/>
<param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
<param name="ir_width" value="$(var ir_width)"/>
<param name="ir_height" value="$(var ir_height)"/>
<param name="ir_fps" value="$(var ir_fps)"/>
<param name="ir_format" value="$(var ir_format)"/>
<param name="enable_ir" value="$(var enable_ir)"/>
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="color_info_url" value="$(var color_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
</launch>
orbbec_camera/launch/ob_camera_gdb.launch.py
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from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python import get_package_share_directory
def generate_launch_description():
params_config_path = (
get_package_share_directory("orbbec_camera")
+ "/params/ob_camera_params.yaml"
)
return LaunchDescription(
[
Node(
package="orbbec_camera",
namespace="camera",
name="camera",
executable="orbbec_camera_node",
output="screen",
parameters=[params_config_path],
prefix=["xterm -e gdb -ex run --args"],
),
]
)
orbbec_camera/launch/ob_multi_camera.launch.py
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@@ -1,49 +0,0 @@
from launch import LaunchDescription
import launch_ros.actions
from ament_index_python import get_package_share_directory
def generate_launch_description():
ob_params_file1 = (
get_package_share_directory("orbbec_camera")
+ "/params/multi_camera/ob_camera1_params.yaml"
)
ob_params_file2 = (
get_package_share_directory("orbbec_camera")
+ "/params/multi_camera/ob_camera2_params.yaml"
)
return LaunchDescription(
[
launch_ros.actions.Node(
package="orbbec_camera",
namespace="camera1",
name="camera1",
executable="orbbec_camera_node",
output="screen",
parameters=[ob_params_file1],
),
launch_ros.actions.Node(
package="orbbec_camera",
namespace="camera2",
name="camera2",
executable="orbbec_camera_node",
output="screen",
parameters=[ob_params_file2],
),
# dummy static transformation from camera1 to camera2
launch_ros.actions.Node(
package="tf2_ros",
executable="static_transform_publisher",
arguments=[
"0",
"0",
"0",
"0",
"0",
"0",
"camera1_link",
"camera2_link",
],
),
]
)