mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 11:10:19 +08:00
Update benchmark and lower_cpu_usage in examples
This commit is contained in:
jj
@@ -251,6 +251,7 @@ install(TARGETS ${PROJECT_NAME} frame_latency
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install(DIRECTORY include/ DESTINATION include)
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
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install(DIRECTORY config DESTINATION share/${PROJECT_NAME}/)
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install(DIRECTORY examples DESTINATION share/${PROJECT_NAME}/)
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install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include)
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install(DIRECTORY ${ORBBEC_LIBS_DIR}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*")
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install(DIRECTORY ${ORBBEC_LIBS_DIR}/extensions DESTINATION lib/)
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@@ -116,7 +116,7 @@ def generate_launch_description():
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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_component.launch.py")
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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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@@ -129,7 +129,7 @@ def generate_launch_description():
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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_component.launch.py")
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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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@@ -142,7 +142,7 @@ def generate_launch_description():
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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_component.launch.py")
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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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@@ -155,7 +155,7 @@ def generate_launch_description():
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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_component.launch.py")
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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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@@ -116,7 +116,7 @@ def generate_launch_description():
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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_component.launch.py")
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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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@@ -129,7 +129,7 @@ def generate_launch_description():
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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_component.launch.py")
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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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@@ -142,7 +142,7 @@ def generate_launch_description():
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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_component.launch.py")
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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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@@ -155,7 +155,7 @@ def generate_launch_description():
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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_component.launch.py")
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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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@@ -0,0 +1,95 @@
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## Using the Orbbec ROS package to get lower CPU usage
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This section shows you how to reduce CPU usage for one or more cameras in a ROS 2 environment. This method only works with Gemini 330 series cameras, and the firmware version needs to be above 1.4.10(`device_preset `is set to Default).
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The example launch files used in this section are `gemini_330_series_lower_cpu_usage.launch.py` and `multi_camera_lower_cpu_usage.launch.py`.
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### Parameters that affect CPU usage
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`uvc_backend`:Global UVC Backend select on Linux,optional values: libuvc, v4l2.(v4l2 is lower)
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`color_format`:Color stream coding format.(RGB is lower)
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`depth_registration`: Enables alignment of the depth frame to the color frame.(align_mode is set to HW lower)
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`enable_point_cloud`:Enables the point cloud.
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`enable_colored_point_cloud`:Enables the RGB point cloud.
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`filter`:decimation_filter,hdr_merge,sequenced_filter,threshold_filter,hardware_noise_removal_filter,noise_removal_filter,spatial_filter,temporal_filter,hole_filling_filter.(hardware_noise_removal_filter is lower)
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`Video stream resolution and frame rate`
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### Data comparison
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> Since different machines and different software environments will result in different CPU usage, the CPU improvement rate is calculated based on the device's CPU benchmark.
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> A comparing B:
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> `CPU improvement rate=（CPUA-CPUB）/CPUB*100`
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In this example, we used two different video stream resolutions as test benchmarks to provide a performance comparison between lower and higher resolutions.(Currently, data is only provided for `uvc_backend`, `color_format`, and some `filter`)
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#### Depth&Left_ir&Right_ir 424 * 266 15fps,Color 848 * 480 15fps
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##### uvc_backend
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libuvc comparing v4l2 In the same environment, CPU improvement rate is ***13.1%***
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* libuvc is ***72.3%***
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* v4l2 is ***62.8%***
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##### color_format
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ROS2 color stream sets MJPG encoding format and decodes it to RGB comparing RGB encoding format (including YUYV format to RGB conversion operation cost).The CPU improvement rate under the libuvc protocol is ***14.2%*** the CPU improvement rate under the v4l2 protocol is ***30.8%***
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* libuvc:RGB encoding format is ***63.3%***，MJPG encoding format and decoded into RGB is ***72.3%***
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* v4l2:RGB encoding format is ***48%***，MJPG encoding format and decoded into RGB is ***62.8%***
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##### filter
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The color stream setting RGB encoding and MJPG have no effect on filtering and are basically the same. The CPU usage of the depth stream is basically the same under the configuration of 424*266 15fps.
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| Filter Configuration | libuvc(CPU improvement rate) | v4l2(CPU improvement rate) |
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| :------------------------------------------: | :--------------------------: | :------------------------: |
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| No filter | 63.3%(0%) | 48.0%(0%) |
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| hardware_noise_removal_filter | 61.2%(-3.3%) | 47.9%(-0.2%) |
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| hardware_noise_removal_filter+spatial_filter | 65.3%(3.2%) | 51.2%(6.7%) |
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| noise_removal_filter | 77.0%(21.6%) | 53.3%(11.0%) |
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| noise_removal_filter+spatial_filter | 78.4%(23.9%) | 54.8%(14.2%) |
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#### Depth&Left_ir&Right_ir 848 * 480 30fps,Color 848 * 480 30fps
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##### uvc_backend
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libuvc comparing v4l2 In the same environment, CPU improvement rate is ***53.9%***
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* libuvc is ***182.8%***
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* v4l2 is ***118.8%***
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##### color_format
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ROS2 color stream sets MJPG encoding format and decodes it to RGB comparing RGB encoding format (including YUYV format to RGB conversion operation cost).The CPU improvement rate under the libuvc protocol is ***90.2%*** the CPU improvement rate under the v4l2 protocol is ***43.1%***
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* libuvc:RGB encoding format is ***182.8%***，MJPG encoding format and decoded into RGB is ***347.7%***
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* v4l2:RGB encoding format is ***118.8%***，MJPG encoding format and decoded into RGB is ***170.0%***
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##### filter
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When the depth stream is configured at 848*480 30fps, the CPU usage is significantly different.
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| Filter Configuration | libuvc(CPU improvement rate) | v4l2(CPU improvement rate) |
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| :------------------------------------------: | :--------------------------: | :------------------------: |
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| No filter | 182.8%(0%) | 118.8%(0%) |
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| hardware_noise_removal_filter | 186.3%(1.9%) | 115.4%(-2.9%) |
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| hardware_noise_removal_filter+spatial_filter | 251.3%(37.5%) | 152.5%(28.4%) |
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| noise_removal_filter | 218.0%(16.1%) | 128.5%(8.2%) |
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| noise_removal_filter+spatial_filter | 469.6%(156.9%) | 336.7%(183.4%) |
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### Example launch
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This is the current example file for running the camera to achieve the lowest CPU usage, excluding the impact of filters.
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Use the following command to start the single-camera configuration:
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```bash
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ros2 launch orbbec_camera gemini_330_series_lower_cpu_usage.launch.py
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```
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Use the following command to start the multi-camera configuration:
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```bash
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roslaunch orbbec_camera multi_camera_lower_cpu_usage.launch.py
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```
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@@ -0,0 +1,265 @@
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import os
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import yaml
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
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from launch_ros.descriptions import ComposableNode
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from launch.conditions import UnlessCondition
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from launch_ros.actions import LoadComposableNodes
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def load_yaml(file_path):
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with open(file_path, 'r') as f:
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return yaml.safe_load(f)
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def merge_params(default_params, yaml_params):
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for key, value in yaml_params.items():
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if key in default_params:
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default_params[key] = value
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return default_params
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def convert_value(value):
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if isinstance(value, str):
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try:
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return int(value)
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except ValueError:
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pass
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try:
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return float(value)
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except ValueError:
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pass
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if value.lower() == 'true':
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return True
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elif value.lower() == 'false':
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return False
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return value
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def load_parameters(context, args):
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default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
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config_file_path = LaunchConfiguration('config_file_path').perform(context)
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if config_file_path:
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yaml_params = load_yaml(config_file_path)
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default_params = merge_params(default_params, yaml_params)
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skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
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return {
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key: (value if key in skip_convert else convert_value(value))
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for key, value in default_params.items()
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}
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def generate_launch_description():
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args = [
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='false'),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('uvc_backend', default_value='v4l2'),#libuvc or v4l2
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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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('cloud_frame_id', default_value=''),
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DeclareLaunchArgument('connection_delay', default_value='10'),
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DeclareLaunchArgument('color_width', default_value='0'),
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DeclareLaunchArgument('color_height', default_value='0'),
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DeclareLaunchArgument('color_fps', default_value='0'),
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DeclareLaunchArgument('color_format', default_value='RGB'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('color_brightness', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='0'),
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DeclareLaunchArgument('depth_height', default_value='0'),
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DeclareLaunchArgument('depth_fps', default_value='0'),
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DeclareLaunchArgument('depth_format', default_value='ANY'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('depth_qos', default_value='default'),
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_width', default_value='0'),
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DeclareLaunchArgument('left_ir_height', default_value='0'),
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DeclareLaunchArgument('left_ir_fps', default_value='0'),
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DeclareLaunchArgument('left_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_left_ir', default_value='false'),
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DeclareLaunchArgument('left_ir_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_width', default_value='0'),
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DeclareLaunchArgument('right_ir_height', default_value='0'),
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DeclareLaunchArgument('right_ir_fps', default_value='0'),
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DeclareLaunchArgument('right_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_right_ir', default_value='false'),
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DeclareLaunchArgument('right_ir_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_brightness', default_value='-1'),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
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DeclareLaunchArgument('enable_accel', default_value='false'),
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DeclareLaunchArgument('accel_rate', default_value='200hz'),
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DeclareLaunchArgument('accel_range', default_value='4g'),
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DeclareLaunchArgument('enable_gyro', default_value='false'),
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DeclareLaunchArgument('gyro_rate', default_value='200hz'),
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DeclareLaunchArgument('gyro_range', default_value='1000dps'),
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DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
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DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument('color_info_url', default_value=''),
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
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DeclareLaunchArgument('sync_mode', default_value='standalone'),
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DeclareLaunchArgument('depth_delay_us', default_value='0'),
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DeclareLaunchArgument('color_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
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||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
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||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
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DeclareLaunchArgument('frames_per_trigger', default_value='2'),
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DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
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||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
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DeclareLaunchArgument('ordered_pc', default_value='false'),
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||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
||||
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'),
|
||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='true'),
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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'),
|
||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
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||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
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||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
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||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
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||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
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||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
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||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
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||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
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||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
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||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
||||
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
|
||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
||||
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
|
||||
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
|
||||
DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
|
||||
DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
|
||||
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
|
||||
DeclareLaunchArgument('offset_index0', default_value='-1'),
|
||||
DeclareLaunchArgument('offset_index1', default_value='-1'),
|
||||
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
|
||||
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
|
||||
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
|
||||
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
|
||||
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
|
||||
|
||||
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
|
||||
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
|
||||
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
||||
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
|
||||
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
|
||||
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
||||
|
||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
||||
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
|
||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
|
||||
DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
|
||||
DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
|
||||
|
||||
]
|
||||
|
||||
def get_params(context, args):
|
||||
return [load_parameters(context, args)]
|
||||
|
||||
def create_node_action(context, args):
|
||||
params = get_params(context, args)
|
||||
ros_distro = os.environ.get("ROS_DISTRO", "humble")
|
||||
if ros_distro == "foxy":
|
||||
return [
|
||||
Node(
|
||||
package="orbbec_camera",
|
||||
executable="orbbec_camera_node",
|
||||
name="ob_camera_node",
|
||||
namespace=LaunchConfiguration("camera_name"),
|
||||
parameters=params,
|
||||
output="screen",
|
||||
)
|
||||
]
|
||||
else:
|
||||
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
|
||||
component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
|
||||
|
||||
orbbec_container = Node(
|
||||
name=component_container_name_arg,
|
||||
package='rclcpp_components',
|
||||
executable='component_container_mt',
|
||||
output='screen',
|
||||
condition=UnlessCondition(attach_to_shared_component_container_arg)
|
||||
)
|
||||
return [
|
||||
# orbbec_container,
|
||||
LoadComposableNodes(
|
||||
target_container=component_container_name_arg,
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
namespace=LaunchConfiguration("camera_name"),
|
||||
name=LaunchConfiguration("camera_name"),
|
||||
package='orbbec_camera',
|
||||
plugin='orbbec_camera::OBCameraNodeDriver',
|
||||
parameters=params,
|
||||
extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
|
||||
)
|
||||
]
|
||||
)
|
||||
]
|
||||
|
||||
return LaunchDescription(
|
||||
args + [
|
||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
||||
]
|
||||
)
|
||||
@@ -0,0 +1,150 @@
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node,LoadComposableNodes
|
||||
from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.conditions import UnlessCondition, IfCondition
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.substitutions import TextSubstitution
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
|
||||
def load_yaml(file_path):
|
||||
with open(file_path, 'r') as f:
|
||||
return yaml.safe_load(f)
|
||||
|
||||
|
||||
def merge_params(default_params, yaml_params):
|
||||
for key, value in yaml_params.items():
|
||||
if key in default_params:
|
||||
default_params[key] = value
|
||||
return default_params
|
||||
|
||||
|
||||
def convert_value(value):
|
||||
if isinstance(value, str):
|
||||
try:
|
||||
return int(value)
|
||||
except ValueError:
|
||||
pass
|
||||
try:
|
||||
return float(value)
|
||||
except ValueError:
|
||||
pass
|
||||
if value.lower() == 'true':
|
||||
return True
|
||||
elif value.lower() == 'false':
|
||||
return False
|
||||
return value
|
||||
|
||||
|
||||
def load_parameters(context, args):
|
||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
||||
if config_file_path:
|
||||
yaml_params = load_yaml(config_file_path)
|
||||
default_params = merge_params(default_params, yaml_params)
|
||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
||||
return {
|
||||
key: (value if key in skip_convert else convert_value(value))
|
||||
for key, value in default_params.items()
|
||||
}
|
||||
def generate_launch_description():
|
||||
# Include launch files
|
||||
package_dir = get_package_share_directory("orbbec_camera")
|
||||
launch_file_dir = os.path.join(package_dir, "launch")
|
||||
|
||||
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
|
||||
component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
|
||||
|
||||
shared_orbbec_container = Node(
|
||||
name=component_container_name_arg,
|
||||
package="rclcpp_components",
|
||||
executable="component_container_mt",
|
||||
output="screen",
|
||||
condition=UnlessCondition(attach_to_shared_component_container_arg),
|
||||
)
|
||||
|
||||
attach_to_shared_component_container_arg = TextSubstitution(text="true")
|
||||
|
||||
launch1_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_01",
|
||||
"usb_port": "2-7",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
launch2_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_02",
|
||||
"usb_port": "2-2",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
launch3_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_03",
|
||||
"usb_port": "2-1",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
launch4_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_04",
|
||||
"usb_port": "2-3",
|
||||
"device_num": "4",
|
||||
"sync_mode": "standalone",
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
delayed_left_camera = TimerAction(
|
||||
period=2.0,
|
||||
actions=args+[launch1_include],
|
||||
)
|
||||
delayed_right_camera = TimerAction(
|
||||
period=4.0,
|
||||
actions=args+[launch2_include],
|
||||
)
|
||||
delayed_rear_camera = TimerAction(
|
||||
period=6.0,
|
||||
actions=args+[launch3_include],
|
||||
)
|
||||
delayed_front_camera = TimerAction(
|
||||
period=8.0,
|
||||
actions=args+[launch4_include],
|
||||
)
|
||||
ld = LaunchDescription(
|
||||
[
|
||||
shared_orbbec_container,
|
||||
TimerAction(period=0.0, actions=[GroupAction([delayed_left_camera])]),
|
||||
TimerAction(period=2.0, actions=[GroupAction([delayed_right_camera])]),
|
||||
TimerAction(period=4.0, actions=[GroupAction([delayed_rear_camera])]),
|
||||
TimerAction(period=6.0, actions=[GroupAction([delayed_front_camera])]),
|
||||
]
|
||||
)
|
||||
|
||||
return ld
|
||||
Reference in New Issue
Block a user