[yunbao]Add Yunbao test launch

2026-10-04 12:07:46 +08:00 · 2024-12-02 11:34:48 +08:00
parent 0ba9fbbff4
commit 35d57938f9
3 changed files with 374 additions and 0 deletions
@@ -0,0 +1,80 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+from launch.conditions import UnlessCondition, IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.actions import TimerAction
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(package_dir, "launch")
+    config_file_dir = os.path.join(package_dir, "config")
+    config_file_335_path = os.path.join(config_file_dir, "camera_335_params.yaml")
+    config_file_335L_path = os.path.join(config_file_dir, "camera_335L_params.yaml")
+
+    use_intra_process_comms_arg = DeclareLaunchArgument(
+        'use_intra_process_comms', default_value='false',
+    )
+    attach_to_shared_component_container_arg = DeclareLaunchArgument(
+        'attach_to_shared_component_container', default_value='false',
+    )
+
+    shared_container_name = "shared_orbbec_container"
+    shared_container = Node(
+        name=shared_container_name,
+        package='rclcpp_components',
+        executable='component_container_mt',
+        output='screen',
+        condition=IfCondition(LaunchConfiguration('attach_to_shared_component_container'))
+    )
+
+    G0_6D = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "G0_6D",
+            "usb_port": "2-3.2",
+            "device_num": "2",
+            "sync_mode": "primary",
+            'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
+            'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
+            'component_container_name': shared_container_name,
+            "config_file_path": config_file_335_path,
+        }.items(),
+    )
+
+    G1_6H = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "G1_6H",
+            "usb_port": "2-3.1",
+            "device_num": "2",
+            "sync_mode": "secondary_synced",
+            'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
+            'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
+            'component_container_name': shared_container_name,
+            "config_file_path": config_file_335_path,
+        }.items(),
+    )
+
+
+    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
+
+
+
+    ld = LaunchDescription([
+        use_intra_process_comms_arg,
+        attach_to_shared_component_container_arg,
+        shared_container,
+        GroupAction([G0_6D]),
+        TimerAction(period=0.5, actions=[GroupAction([G1_6H])]),
+    ])
+
+    return ld
+