mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 12:07:46 +08:00
Delete redundant launch files
This commit is contained in:
jj
@@ -1,197 +0,0 @@
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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
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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)
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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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# Include launch files
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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)
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component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
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shared_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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start_benchmark = 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="start_benchmark",
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name="start_benchmark",
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package='orbbec_camera',
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plugin='orbbec_camera::tools::StartBenchmark',
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)
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]
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)
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attach_to_shared_component_container_arg = TextSubstitution(text="true")
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args = [
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DeclareLaunchArgument('uvc_backend', default_value='libuvc'),
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DeclareLaunchArgument('depth_registration', default_value='false'),
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DeclareLaunchArgument('color_width', default_value='848'),
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DeclareLaunchArgument('color_height', default_value='480'),
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DeclareLaunchArgument('color_fps', default_value='30'),
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DeclareLaunchArgument('color_format', default_value='MJPG'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument('depth_width', default_value='848'),
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DeclareLaunchArgument('depth_height', default_value='480'),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument('depth_format', default_value='ANY'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('left_ir_width', default_value='848'),
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DeclareLaunchArgument('left_ir_height', default_value='480'),
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DeclareLaunchArgument('left_ir_fps', default_value='30'),
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DeclareLaunchArgument('left_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_left_ir', default_value='true'),
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DeclareLaunchArgument('right_ir_width', default_value='848'),
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DeclareLaunchArgument('right_ir_height', default_value='480'),
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DeclareLaunchArgument('right_ir_fps', default_value='30'),
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DeclareLaunchArgument('right_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_right_ir', default_value='true'),
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DeclareLaunchArgument('enable_point_cloud', default_value='false'),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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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='false'),
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DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
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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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]
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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_01",
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"usb_port": "2-7",
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"device_num": "4",
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"sync_mode": "standalone",
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"attach_to_shared_component_container": attach_to_shared_component_container_arg,
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"component_container_name": component_container_name_arg,
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}.items(),
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)
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_02",
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"usb_port": "2-2",
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"device_num": "4",
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"sync_mode": "standalone",
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"attach_to_shared_component_container": attach_to_shared_component_container_arg,
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"component_container_name": component_container_name_arg,
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}.items(),
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)
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launch3_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_03",
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"usb_port": "2-1",
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"device_num": "4",
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"sync_mode": "standalone",
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"attach_to_shared_component_container": attach_to_shared_component_container_arg,
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"component_container_name": component_container_name_arg,
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}.items(),
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)
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launch4_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series_benchmark.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_04",
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"usb_port": "2-3",
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"device_num": "4",
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"sync_mode": "standalone",
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"attach_to_shared_component_container": attach_to_shared_component_container_arg,
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"component_container_name": component_container_name_arg,
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}.items(),
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)
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delayed_left_camera = TimerAction(
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period=2.0,
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actions=args+[launch1_include],
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)
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delayed_right_camera = TimerAction(
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period=4.0,
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actions=args+[launch2_include],
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)
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delayed_rear_camera = TimerAction(
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period=6.0,
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actions=args+[launch3_include],
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)
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delayed_front_camera = TimerAction(
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period=8.0,
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actions=args+[launch4_include],
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)
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ld = LaunchDescription(
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[
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shared_orbbec_container,
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start_benchmark,
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delayed_left_camera,
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delayed_right_camera,
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delayed_rear_camera,
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delayed_front_camera,
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]
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)
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return ld
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