mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 12:07:46 +08:00
Replace enable_hardware_d2d param with disaparity_to_depth_mode
This commit is contained in:
jj
@@ -8,8 +8,9 @@ from launch_ros.descriptions import ComposableNode
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from launch.conditions import UnlessCondition
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from launch.conditions import UnlessCondition
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from launch_ros.actions import LoadComposableNodes
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from launch_ros.actions import LoadComposableNodes
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def load_yaml(file_path):
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def load_yaml(file_path):
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with open(file_path, 'r') as f:
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with open(file_path, "r") as f:
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return yaml.safe_load(f)
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return yaml.safe_load(f)
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@@ -30,20 +31,22 @@ def convert_value(value):
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return float(value)
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return float(value)
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except ValueError:
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except ValueError:
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pass
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pass
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if value.lower() == 'true':
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if value.lower() == "true":
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return True
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return True
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elif value.lower() == 'false':
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elif value.lower() == "false":
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return False
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return False
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return value
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return value
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def load_parameters(context, args):
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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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default_params = {
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config_file_path = LaunchConfiguration('config_file_path').perform(context)
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arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
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}
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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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if config_file_path:
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yaml_params = load_yaml(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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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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skip_convert = {"config_file_path", "usb_port", "serial_number"}
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return {
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return {
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key: (value if key in skip_convert else convert_value(value))
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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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for key, value in default_params.items()
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@@ -52,162 +55,177 @@ def load_parameters(context, args):
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def generate_launch_description():
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def generate_launch_description():
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args = [
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args = [
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument("camera_name", default_value="camera"),
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DeclareLaunchArgument('depth_registration', default_value='true'),
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DeclareLaunchArgument("depth_registration", default_value="true"),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument("serial_number", default_value=""),
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DeclareLaunchArgument('usb_port', 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("device_num", default_value="1"),
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DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
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DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument("point_cloud_qos", default_value="default"),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument("enable_point_cloud", default_value="true"),
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DeclareLaunchArgument('enable_colored_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("cloud_frame_id", default_value=""),
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DeclareLaunchArgument('connection_delay', default_value='10'),
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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_width", default_value="0"),
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DeclareLaunchArgument('color_height', 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_fps", default_value="0"),
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DeclareLaunchArgument('color_format', default_value='ANY'),
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DeclareLaunchArgument("color_format", default_value="ANY"),
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DeclareLaunchArgument('enable_color', default_value='true'),
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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_qos", default_value="default"),
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DeclareLaunchArgument('color_camera_info_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("enable_color_auto_exposure", default_value="true"),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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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("color_gain", default_value="-1"),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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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_white_balance", default_value="-1"),
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DeclareLaunchArgument('color_ae_max_exposure', 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("color_brightness", default_value="-1"),
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DeclareLaunchArgument('depth_width', default_value='0'),
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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_height", default_value="0"),
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DeclareLaunchArgument('depth_fps', 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("depth_format", default_value="ANY"),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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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_qos", default_value="default"),
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DeclareLaunchArgument('depth_camera_info_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_width", default_value="0"),
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DeclareLaunchArgument('left_ir_height', 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_fps", default_value="0"),
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DeclareLaunchArgument('left_ir_format', default_value='ANY'),
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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("enable_left_ir", default_value="false"),
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DeclareLaunchArgument('left_ir_qos', default_value='default'),
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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("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_width", default_value="0"),
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DeclareLaunchArgument('right_ir_height', 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_fps", default_value="0"),
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DeclareLaunchArgument('right_ir_format', default_value='ANY'),
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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("enable_right_ir", default_value="false"),
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DeclareLaunchArgument('right_ir_qos', default_value='default'),
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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("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("enable_ir_auto_exposure", default_value="true"),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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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_gain", default_value="-1"),
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DeclareLaunchArgument('ir_ae_max_exposure', 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("ir_brightness", default_value="-1"),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
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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("enable_accel", default_value="false"),
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DeclareLaunchArgument('accel_rate', default_value='200hz'),
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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("accel_range", default_value="4g"),
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DeclareLaunchArgument('enable_gyro', default_value='false'),
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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_rate", default_value="200hz"),
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DeclareLaunchArgument('gyro_range', default_value='1000dps'),
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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("liner_accel_cov", default_value="0.01"),
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DeclareLaunchArgument('angular_vel_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("publish_tf", default_value="true"),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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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("ir_info_url", default_value=""),
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DeclareLaunchArgument('color_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("log_level", default_value="none"),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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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_d2c_viewer", default_value="false"),
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DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
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DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument("enable_ldp", default_value="true"),
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DeclareLaunchArgument('sync_mode', default_value='standalone'),
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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("depth_delay_us", default_value="0"),
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DeclareLaunchArgument('color_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("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_delay_us", default_value="0"),
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DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
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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("frames_per_trigger", default_value="2"),
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DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
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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("enable_frame_sync", default_value="true"),
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DeclareLaunchArgument('ordered_pc', default_value='false'),
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DeclareLaunchArgument("ordered_pc", default_value="false"),
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DeclareLaunchArgument('enable_depth_scale', default_value='true'),
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DeclareLaunchArgument("enable_depth_scale", default_value="true"),
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DeclareLaunchArgument('enable_decimation_filter', 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_hdr_merge", default_value="false"),
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DeclareLaunchArgument('enable_sequence_id_filter', 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_threshold_filter", default_value="false"),
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DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='true'),
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DeclareLaunchArgument(
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DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
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"enable_hardware_noise_removal_filter", default_value="true"
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DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
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),
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DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
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DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
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DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
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DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
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DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
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DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
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DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
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DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
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DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
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DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
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DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
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DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
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DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
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DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
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DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
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DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
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DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
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DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
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DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
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DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
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DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
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DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
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DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
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DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
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DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
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DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
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DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
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DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
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DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
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DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
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DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
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DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
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DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
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DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
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DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
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DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
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DeclareLaunchArgument('align_mode', default_value='SW'),
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DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
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DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
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DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
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DeclareLaunchArgument('enable_laser', default_value='true'),
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DeclareLaunchArgument("align_mode", default_value="SW"),
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
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DeclareLaunchArgument('device_preset', default_value='Default'),
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DeclareLaunchArgument("enable_laser", default_value="true"),
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DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
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DeclareLaunchArgument("depth_precision", default_value=""),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument("device_preset", default_value="Default"),
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DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
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DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
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DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
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DeclareLaunchArgument("laser_energy_level", default_value="-1"),
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DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
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DeclareLaunchArgument("enable_sync_host_time", default_value="true"),
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DeclareLaunchArgument('config_file_path', default_value=''),
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DeclareLaunchArgument(
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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"time_domain", default_value="global"
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DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
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), # global, device, system
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DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
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DeclareLaunchArgument("enable_color_undistortion", default_value="false"),
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DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
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DeclareLaunchArgument("config_file_path", default_value=""),
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DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
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DeclareLaunchArgument("enable_heartbeat", default_value="false"),
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DeclareLaunchArgument('disparity_offset_config', default_value='false'),
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DeclareLaunchArgument("gmsl_trigger_fps", default_value="3000"),
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DeclareLaunchArgument('offset_index0', default_value='-1'),
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DeclareLaunchArgument("enable_gmsl_trigger", default_value="false"),
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DeclareLaunchArgument('offset_index1', default_value='-1'),
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DeclareLaunchArgument("disparity_range_mode", default_value="-1"),
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DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
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DeclareLaunchArgument("disparity_search_offset", default_value="-1"),
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DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
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DeclareLaunchArgument("disparity_offset_config", default_value="false"),
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DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
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DeclareLaunchArgument("offset_index0", default_value="-1"),
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DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
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DeclareLaunchArgument("offset_index1", default_value="-1"),
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DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
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DeclareLaunchArgument(
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"frame_aggregate_mode", default_value="ANY"
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DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
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), # full_frame、color_frame、ANY or disable
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DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
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DeclareLaunchArgument(
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DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
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"interleave_ae_mode", default_value="laser"
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DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
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), # 'hdr' or 'laser'
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DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
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DeclareLaunchArgument("interleave_frame_enable", default_value="false"),
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DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
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DeclareLaunchArgument("interleave_skip_enable", default_value="false"),
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DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
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DeclareLaunchArgument(
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DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
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"interleave_skip_index", default_value="1"
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DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
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), # 0:skip pattern ir 1: skip flood ir
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DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
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DeclareLaunchArgument(
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"hdr_index1_laser_control", default_value="1"
|
||||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
), # interleave_hdr_param
|
||||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument("hdr_index1_depth_exposure", default_value="1"),
|
||||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
DeclareLaunchArgument("hdr_index1_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("hdr_index1_ir_brightness", default_value="20"),
|
||||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
DeclareLaunchArgument("hdr_index1_ir_ae_max_exposure", default_value="2000"),
|
||||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument("hdr_index0_laser_control", default_value="1"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument("hdr_index0_depth_exposure", default_value="7500"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
|
DeclareLaunchArgument("hdr_index0_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("hdr_index0_ir_brightness", default_value="60"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
|
DeclareLaunchArgument("hdr_index0_ir_ae_max_exposure", default_value="10000"),
|
||||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
|
"laser_index1_laser_control", default_value="0"
|
||||||
DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
|
), # 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):
|
def get_params(context, args):
|
||||||
@@ -228,35 +246,44 @@ def generate_launch_description():
|
|||||||
)
|
)
|
||||||
]
|
]
|
||||||
else:
|
else:
|
||||||
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
|
attach_to_shared_component_container_arg = LaunchConfiguration(
|
||||||
component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
|
"attach_to_shared_component_container", default=False
|
||||||
|
)
|
||||||
|
component_container_name_arg = LaunchConfiguration(
|
||||||
|
"component_container_name", default="orbbec_container"
|
||||||
|
)
|
||||||
|
|
||||||
orbbec_container = Node(
|
orbbec_container = Node(
|
||||||
name=component_container_name_arg,
|
name=component_container_name_arg,
|
||||||
package='rclcpp_components',
|
package="rclcpp_components",
|
||||||
executable='component_container_mt',
|
executable="component_container_mt",
|
||||||
output='screen',
|
output="screen",
|
||||||
condition=UnlessCondition(attach_to_shared_component_container_arg)
|
condition=UnlessCondition(attach_to_shared_component_container_arg),
|
||||||
)
|
)
|
||||||
return [
|
return [
|
||||||
orbbec_container,
|
orbbec_container,
|
||||||
LoadComposableNodes(
|
LoadComposableNodes(
|
||||||
target_container=component_container_name_arg,
|
target_container=component_container_name_arg,
|
||||||
composable_node_descriptions=[
|
composable_node_descriptions=[
|
||||||
ComposableNode(
|
ComposableNode(
|
||||||
namespace=LaunchConfiguration("camera_name"),
|
namespace=LaunchConfiguration("camera_name"),
|
||||||
name=LaunchConfiguration("camera_name"),
|
name=LaunchConfiguration("camera_name"),
|
||||||
package='orbbec_camera',
|
package="orbbec_camera",
|
||||||
plugin='orbbec_camera::OBCameraNodeDriver',
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||||
parameters=params,
|
parameters=params,
|
||||||
extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
|
extra_arguments=[
|
||||||
)
|
{
|
||||||
]
|
"use_intra_process_comms": LaunchConfiguration(
|
||||||
)
|
"use_intra_process_comms"
|
||||||
|
)
|
||||||
|
}
|
||||||
|
],
|
||||||
|
)
|
||||||
|
],
|
||||||
|
),
|
||||||
]
|
]
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription(
|
||||||
args + [
|
args
|
||||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||||
]
|
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -8,8 +8,9 @@ from launch_ros.descriptions import ComposableNode
|
|||||||
from launch.conditions import UnlessCondition
|
from launch.conditions import UnlessCondition
|
||||||
from launch_ros.actions import LoadComposableNodes
|
from launch_ros.actions import LoadComposableNodes
|
||||||
|
|
||||||
|
|
||||||
def load_yaml(file_path):
|
def load_yaml(file_path):
|
||||||
with open(file_path, 'r') as f:
|
with open(file_path, "r") as f:
|
||||||
return yaml.safe_load(f)
|
return yaml.safe_load(f)
|
||||||
|
|
||||||
|
|
||||||
@@ -30,20 +31,22 @@ def convert_value(value):
|
|||||||
return float(value)
|
return float(value)
|
||||||
except ValueError:
|
except ValueError:
|
||||||
pass
|
pass
|
||||||
if value.lower() == 'true':
|
if value.lower() == "true":
|
||||||
return True
|
return True
|
||||||
elif value.lower() == 'false':
|
elif value.lower() == "false":
|
||||||
return False
|
return False
|
||||||
return value
|
return value
|
||||||
|
|
||||||
|
|
||||||
def load_parameters(context, args):
|
def load_parameters(context, args):
|
||||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
default_params = {
|
||||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
|
||||||
|
}
|
||||||
|
config_file_path = LaunchConfiguration("config_file_path").perform(context)
|
||||||
if config_file_path:
|
if config_file_path:
|
||||||
yaml_params = load_yaml(config_file_path)
|
yaml_params = load_yaml(config_file_path)
|
||||||
default_params = merge_params(default_params, yaml_params)
|
default_params = merge_params(default_params, yaml_params)
|
||||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
skip_convert = {"config_file_path", "usb_port", "serial_number"}
|
||||||
return {
|
return {
|
||||||
key: (value if key in skip_convert else convert_value(value))
|
key: (value if key in skip_convert else convert_value(value))
|
||||||
for key, value in default_params.items()
|
for key, value in default_params.items()
|
||||||
@@ -52,195 +55,224 @@ def load_parameters(context, args):
|
|||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
args = [
|
args = [
|
||||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
DeclareLaunchArgument("camera_name", default_value="camera"),
|
||||||
DeclareLaunchArgument('depth_registration', default_value='true'),
|
DeclareLaunchArgument("depth_registration", default_value="true"),
|
||||||
DeclareLaunchArgument('serial_number', default_value=''),
|
DeclareLaunchArgument("serial_number", default_value=""),
|
||||||
DeclareLaunchArgument('usb_port', default_value=''),
|
DeclareLaunchArgument("usb_port", default_value=""),
|
||||||
DeclareLaunchArgument('device_num', default_value='1'),
|
DeclareLaunchArgument("device_num", default_value="1"),
|
||||||
DeclareLaunchArgument('preset_firmware_path', default_value=''),
|
DeclareLaunchArgument("preset_firmware_path", default_value=""),
|
||||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
|
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
|
||||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
|
||||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
DeclareLaunchArgument("cloud_frame_id", default_value=""),
|
||||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
DeclareLaunchArgument("connection_delay", default_value="10"),
|
||||||
DeclareLaunchArgument('color_width', default_value='0'),
|
DeclareLaunchArgument("color_width", default_value="0"),
|
||||||
DeclareLaunchArgument('color_height', default_value='0'),
|
DeclareLaunchArgument("color_height", default_value="0"),
|
||||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
DeclareLaunchArgument("color_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('color_format', default_value='ANY'),
|
DeclareLaunchArgument("color_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
DeclareLaunchArgument("enable_color", default_value="true"),
|
||||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
DeclareLaunchArgument("color_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
"enable_color_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
DeclareLaunchArgument("color_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
DeclareLaunchArgument("color_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
|
||||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
DeclareLaunchArgument("color_white_balance", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_sharpness', default_value='-1'),
|
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gamma', default_value='-1'),
|
DeclareLaunchArgument("color_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_saturation', default_value='-1'),
|
DeclareLaunchArgument("color_sharpness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_constrast', default_value='-1'),
|
DeclareLaunchArgument("color_gamma", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_hue', default_value='-1'),
|
DeclareLaunchArgument("color_saturation", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
|
DeclareLaunchArgument("color_constrast", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("color_hue", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
"enable_color_backlight_compenstation", default_value="false"
|
||||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
DeclareLaunchArgument("enable_color_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
DeclareLaunchArgument("color_decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
DeclareLaunchArgument("depth_width", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
DeclareLaunchArgument("depth_height", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument("depth_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
|
DeclareLaunchArgument("enable_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
|
DeclareLaunchArgument("depth_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
|
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_brightness', default_value='-1'),
|
"enable_depth_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_fps', default_value='0'),
|
DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_left_ir', default_value='false'),
|
DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_qos', default_value='default'),
|
DeclareLaunchArgument("depth_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("left_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("left_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
DeclareLaunchArgument("left_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
DeclareLaunchArgument("enable_left_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_fps', default_value='0'),
|
DeclareLaunchArgument("left_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_right_ir', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('right_ir_qos', default_value='default'),
|
"enable_left_ir_sequence_id_filter", default_value="false"
|
||||||
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
|
),
|
||||||
DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("left_ir_sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("right_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
DeclareLaunchArgument("right_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
DeclareLaunchArgument("right_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
DeclareLaunchArgument("right_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("enable_right_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
DeclareLaunchArgument("right_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
"enable_right_ir_sequence_id_filter", default_value="false"
|
||||||
DeclareLaunchArgument('accel_range', default_value='4g'),
|
),
|
||||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
DeclareLaunchArgument("right_ir_sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
|
DeclareLaunchArgument("ir_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
DeclareLaunchArgument("ir_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
DeclareLaunchArgument("ir_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
DeclareLaunchArgument("enable_accel", default_value="false"),
|
||||||
DeclareLaunchArgument('color_info_url', default_value=''),
|
DeclareLaunchArgument("accel_rate", default_value="200hz"),
|
||||||
|
DeclareLaunchArgument("accel_range", default_value="4g"),
|
||||||
|
DeclareLaunchArgument("enable_gyro", default_value="false"),
|
||||||
|
DeclareLaunchArgument("gyro_rate", default_value="200hz"),
|
||||||
|
DeclareLaunchArgument("gyro_range", default_value="1000dps"),
|
||||||
|
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
|
||||||
|
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
|
||||||
|
DeclareLaunchArgument("publish_tf", default_value="true"),
|
||||||
|
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
|
||||||
|
DeclareLaunchArgument("ir_info_url", default_value=""),
|
||||||
|
DeclareLaunchArgument("color_info_url", default_value=""),
|
||||||
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
|
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
|
||||||
# If you do not want to automatically enumerate network devices,
|
# If you do not want to automatically enumerate network devices,
|
||||||
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
|
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
|
||||||
DeclareLaunchArgument("enumerate_net_device", default_value="false"),
|
DeclareLaunchArgument("enumerate_net_device", default_value="false"),
|
||||||
DeclareLaunchArgument("net_device_ip", default_value=""),
|
DeclareLaunchArgument("net_device_ip", default_value=""),
|
||||||
DeclareLaunchArgument("net_device_port", default_value="0"),
|
DeclareLaunchArgument("net_device_port", default_value="0"),
|
||||||
DeclareLaunchArgument("exposure_range_mode", default_value="default"),#default, ultimate or regular
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('log_level', default_value='none'),
|
"exposure_range_mode", default_value="default"
|
||||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
), # default, ultimate or regular
|
||||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
DeclareLaunchArgument("log_level", default_value="none"),
|
||||||
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
|
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
|
||||||
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
|
DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
|
||||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
DeclareLaunchArgument("enable_ldp", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
DeclareLaunchArgument("ldp_power_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
DeclareLaunchArgument("frames_per_trigger", default_value="2"),
|
||||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
|
||||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
|
DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
"enable_hardware_noise_removal_filter", default_value="false"
|
||||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
),
|
||||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
|
||||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
"hardware_noise_removal_filter_threshold", default_value="-1.0"
|
||||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
|
||||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
|
||||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
DeclareLaunchArgument("align_mode", default_value="SW"),
|
||||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
|
||||||
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
|
DeclareLaunchArgument("enable_laser", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
DeclareLaunchArgument("device_preset", default_value="Default"),
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
|
||||||
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
|
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
|
DeclareLaunchArgument("enable_sync_host_time", default_value="true"),
|
||||||
DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
|
"time_domain", default_value="global"
|
||||||
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
|
), # global, device, system
|
||||||
DeclareLaunchArgument('offset_index0', default_value='-1'),
|
DeclareLaunchArgument("enable_color_undistortion", default_value="false"),
|
||||||
DeclareLaunchArgument('offset_index1', default_value='-1'),
|
DeclareLaunchArgument("config_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
|
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
|
||||||
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
|
DeclareLaunchArgument("gmsl_trigger_fps", default_value="3000"),
|
||||||
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
|
DeclareLaunchArgument("enable_gmsl_trigger", default_value="false"),
|
||||||
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
|
DeclareLaunchArgument("disparity_range_mode", default_value="-1"),
|
||||||
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
|
DeclareLaunchArgument("disparity_search_offset", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("disparity_offset_config", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
|
DeclareLaunchArgument("offset_index0", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
|
DeclareLaunchArgument("offset_index1", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
"frame_aggregate_mode", default_value="ANY"
|
||||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
), # full_frame、color_frame、ANY or disable
|
||||||
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
|
"interleave_ae_mode", default_value="laser"
|
||||||
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
|
), # 'hdr' or 'laser'
|
||||||
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("interleave_frame_enable", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
DeclareLaunchArgument("interleave_skip_enable", default_value="false"),
|
||||||
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
"interleave_skip_index", default_value="1"
|
||||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
), # 0:skip pattern ir 1: skip flood ir
|
||||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
"hdr_index1_laser_control", default_value="1"
|
||||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
), # interleave_hdr_param
|
||||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument("hdr_index1_depth_exposure", default_value="1"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument("hdr_index1_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
|
DeclareLaunchArgument("hdr_index1_ir_brightness", default_value="20"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("hdr_index1_ir_ae_max_exposure", default_value="2000"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
|
DeclareLaunchArgument("hdr_index0_laser_control", default_value="1"),
|
||||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
|
DeclareLaunchArgument("hdr_index0_depth_exposure", default_value="7500"),
|
||||||
DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
|
DeclareLaunchArgument("hdr_index0_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
|
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):
|
def get_params(context, args):
|
||||||
@@ -261,35 +293,44 @@ def generate_launch_description():
|
|||||||
)
|
)
|
||||||
]
|
]
|
||||||
else:
|
else:
|
||||||
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
|
attach_to_shared_component_container_arg = LaunchConfiguration(
|
||||||
component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
|
"attach_to_shared_component_container", default=False
|
||||||
|
)
|
||||||
|
component_container_name_arg = LaunchConfiguration(
|
||||||
|
"component_container_name", default="orbbec_container"
|
||||||
|
)
|
||||||
|
|
||||||
orbbec_container = Node(
|
orbbec_container = Node(
|
||||||
name=component_container_name_arg,
|
name=component_container_name_arg,
|
||||||
package='rclcpp_components',
|
package="rclcpp_components",
|
||||||
executable='component_container_mt',
|
executable="component_container_mt",
|
||||||
output='screen',
|
output="screen",
|
||||||
condition=UnlessCondition(attach_to_shared_component_container_arg)
|
condition=UnlessCondition(attach_to_shared_component_container_arg),
|
||||||
)
|
)
|
||||||
return [
|
return [
|
||||||
orbbec_container,
|
orbbec_container,
|
||||||
LoadComposableNodes(
|
LoadComposableNodes(
|
||||||
target_container=component_container_name_arg,
|
target_container=component_container_name_arg,
|
||||||
composable_node_descriptions=[
|
composable_node_descriptions=[
|
||||||
ComposableNode(
|
ComposableNode(
|
||||||
namespace=LaunchConfiguration("camera_name"),
|
namespace=LaunchConfiguration("camera_name"),
|
||||||
name=LaunchConfiguration("camera_name"),
|
name=LaunchConfiguration("camera_name"),
|
||||||
package='orbbec_camera',
|
package="orbbec_camera",
|
||||||
plugin='orbbec_camera::OBCameraNodeDriver',
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||||
parameters=params,
|
parameters=params,
|
||||||
extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
|
extra_arguments=[
|
||||||
)
|
{
|
||||||
]
|
"use_intra_process_comms": LaunchConfiguration(
|
||||||
)
|
"use_intra_process_comms"
|
||||||
|
)
|
||||||
|
}
|
||||||
|
],
|
||||||
|
)
|
||||||
|
],
|
||||||
|
),
|
||||||
]
|
]
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription(
|
||||||
args + [
|
args
|
||||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||||
]
|
|
||||||
)
|
)
|
||||||
|
|||||||
+210
-183
@@ -8,8 +8,9 @@ from launch_ros.descriptions import ComposableNode
|
|||||||
from launch.conditions import UnlessCondition
|
from launch.conditions import UnlessCondition
|
||||||
from launch_ros.actions import LoadComposableNodes
|
from launch_ros.actions import LoadComposableNodes
|
||||||
|
|
||||||
|
|
||||||
def load_yaml(file_path):
|
def load_yaml(file_path):
|
||||||
with open(file_path, 'r') as f:
|
with open(file_path, "r") as f:
|
||||||
return yaml.safe_load(f)
|
return yaml.safe_load(f)
|
||||||
|
|
||||||
|
|
||||||
@@ -30,20 +31,22 @@ def convert_value(value):
|
|||||||
return float(value)
|
return float(value)
|
||||||
except ValueError:
|
except ValueError:
|
||||||
pass
|
pass
|
||||||
if value.lower() == 'true':
|
if value.lower() == "true":
|
||||||
return True
|
return True
|
||||||
elif value.lower() == 'false':
|
elif value.lower() == "false":
|
||||||
return False
|
return False
|
||||||
return value
|
return value
|
||||||
|
|
||||||
|
|
||||||
def load_parameters(context, args):
|
def load_parameters(context, args):
|
||||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
default_params = {
|
||||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
|
||||||
|
}
|
||||||
|
config_file_path = LaunchConfiguration("config_file_path").perform(context)
|
||||||
if config_file_path:
|
if config_file_path:
|
||||||
yaml_params = load_yaml(config_file_path)
|
yaml_params = load_yaml(config_file_path)
|
||||||
default_params = merge_params(default_params, yaml_params)
|
default_params = merge_params(default_params, yaml_params)
|
||||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
skip_convert = {"config_file_path", "usb_port", "serial_number"}
|
||||||
return {
|
return {
|
||||||
key: (value if key in skip_convert else convert_value(value))
|
key: (value if key in skip_convert else convert_value(value))
|
||||||
for key, value in default_params.items()
|
for key, value in default_params.items()
|
||||||
@@ -52,162 +55,177 @@ def load_parameters(context, args):
|
|||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
args = [
|
args = [
|
||||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
DeclareLaunchArgument("camera_name", default_value="camera"),
|
||||||
DeclareLaunchArgument('depth_registration', default_value='false'),
|
DeclareLaunchArgument("depth_registration", default_value="false"),
|
||||||
DeclareLaunchArgument('serial_number', default_value=''),
|
DeclareLaunchArgument("serial_number", default_value=""),
|
||||||
DeclareLaunchArgument('usb_port', default_value=''),
|
DeclareLaunchArgument("usb_port", default_value=""),
|
||||||
DeclareLaunchArgument('device_num', default_value='1'),
|
DeclareLaunchArgument("device_num", default_value="1"),
|
||||||
DeclareLaunchArgument('uvc_backend', default_value='v4l2'),#libuvc or v4l2
|
DeclareLaunchArgument("uvc_backend", default_value="v4l2"), # libuvc or v4l2
|
||||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
|
DeclareLaunchArgument("enable_point_cloud", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
|
||||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
DeclareLaunchArgument("cloud_frame_id", default_value=""),
|
||||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
DeclareLaunchArgument("connection_delay", default_value="10"),
|
||||||
DeclareLaunchArgument('color_width', default_value='0'),
|
DeclareLaunchArgument("color_width", default_value="0"),
|
||||||
DeclareLaunchArgument('color_height', default_value='0'),
|
DeclareLaunchArgument("color_height", default_value="0"),
|
||||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
DeclareLaunchArgument("color_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('color_format', default_value='RGB'),
|
DeclareLaunchArgument("color_format", default_value="RGB"),
|
||||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
DeclareLaunchArgument("enable_color", default_value="true"),
|
||||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
DeclareLaunchArgument("color_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
DeclareLaunchArgument("color_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
DeclareLaunchArgument("color_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
|
||||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
DeclareLaunchArgument("color_white_balance", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
DeclareLaunchArgument("color_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
DeclareLaunchArgument("depth_width", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
DeclareLaunchArgument("depth_height", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
DeclareLaunchArgument("depth_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
DeclareLaunchArgument("depth_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
DeclareLaunchArgument("enable_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
DeclareLaunchArgument("depth_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
DeclareLaunchArgument("left_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
DeclareLaunchArgument("left_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('left_ir_fps', default_value='0'),
|
DeclareLaunchArgument("left_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("left_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_left_ir', default_value='false'),
|
DeclareLaunchArgument("enable_left_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('left_ir_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
DeclareLaunchArgument("right_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
DeclareLaunchArgument("right_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_fps', default_value='0'),
|
DeclareLaunchArgument("right_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("right_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_right_ir', default_value='false'),
|
DeclareLaunchArgument("enable_right_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_qos', default_value='default'),
|
DeclareLaunchArgument("right_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
DeclareLaunchArgument("ir_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
DeclareLaunchArgument("ir_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
DeclareLaunchArgument("ir_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
DeclareLaunchArgument("enable_accel", default_value="false"),
|
||||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
DeclareLaunchArgument("accel_rate", default_value="200hz"),
|
||||||
DeclareLaunchArgument('accel_range', default_value='4g'),
|
DeclareLaunchArgument("accel_range", default_value="4g"),
|
||||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
DeclareLaunchArgument("enable_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
DeclareLaunchArgument("gyro_rate", default_value="200hz"),
|
||||||
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
|
DeclareLaunchArgument("gyro_range", default_value="1000dps"),
|
||||||
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
|
||||||
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
|
||||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
DeclareLaunchArgument("publish_tf", default_value="true"),
|
||||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
|
||||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
DeclareLaunchArgument("ir_info_url", default_value=""),
|
||||||
DeclareLaunchArgument('color_info_url', default_value=''),
|
DeclareLaunchArgument("color_info_url", default_value=""),
|
||||||
DeclareLaunchArgument('log_level', default_value='none'),
|
DeclareLaunchArgument("log_level", default_value="none"),
|
||||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
|
DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
DeclareLaunchArgument("enable_ldp", default_value="true"),
|
||||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
|
||||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
DeclareLaunchArgument("frames_per_trigger", default_value="2"),
|
||||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
|
||||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='true'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
|
"enable_hardware_noise_removal_filter", default_value="true"
|
||||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
),
|
||||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
DeclareLaunchArgument("enable_noise_removal_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
|
||||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
|
||||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
DeclareLaunchArgument("align_mode", default_value="SW"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
|
||||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
DeclareLaunchArgument("enable_laser", default_value="true"),
|
||||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
DeclareLaunchArgument("device_preset", default_value="Default"),
|
||||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
|
||||||
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
|
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
DeclareLaunchArgument("enable_sync_host_time", default_value="true"),
|
||||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
"time_domain", default_value="global"
|
||||||
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
|
), # global, device, system
|
||||||
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
|
DeclareLaunchArgument("enable_color_undistortion", default_value="false"),
|
||||||
DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
|
DeclareLaunchArgument("config_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
|
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
|
||||||
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
|
DeclareLaunchArgument("gmsl_trigger_fps", default_value="3000"),
|
||||||
DeclareLaunchArgument('offset_index0', default_value='-1'),
|
DeclareLaunchArgument("enable_gmsl_trigger", default_value="false"),
|
||||||
DeclareLaunchArgument('offset_index1', default_value='-1'),
|
DeclareLaunchArgument("disparity_range_mode", default_value="-1"),
|
||||||
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
|
DeclareLaunchArgument("disparity_search_offset", default_value="-1"),
|
||||||
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
|
DeclareLaunchArgument("disparity_offset_config", default_value="false"),
|
||||||
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
|
DeclareLaunchArgument("offset_index0", default_value="-1"),
|
||||||
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
|
DeclareLaunchArgument("offset_index1", default_value="-1"),
|
||||||
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
|
DeclareLaunchArgument(
|
||||||
|
"frame_aggregate_mode", default_value="ANY"
|
||||||
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
|
), # full_frame、color_frame、ANY or disable
|
||||||
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
"interleave_ae_mode", default_value="laser"
|
||||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
), # 'hdr' or 'laser'
|
||||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
DeclareLaunchArgument("interleave_frame_enable", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument("interleave_skip_enable", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
|
"interleave_skip_index", default_value="1"
|
||||||
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
|
), # 0:skip pattern ir 1: skip flood ir
|
||||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
DeclareLaunchArgument(
|
||||||
|
"hdr_index1_laser_control", default_value="1"
|
||||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
), # interleave_hdr_param
|
||||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument("hdr_index1_depth_exposure", default_value="1"),
|
||||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
DeclareLaunchArgument("hdr_index1_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("hdr_index1_ir_brightness", default_value="20"),
|
||||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
DeclareLaunchArgument("hdr_index1_ir_ae_max_exposure", default_value="2000"),
|
||||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument("hdr_index0_laser_control", default_value="1"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument("hdr_index0_depth_exposure", default_value="7500"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
|
DeclareLaunchArgument("hdr_index0_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("hdr_index0_ir_brightness", default_value="60"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
|
DeclareLaunchArgument("hdr_index0_ir_ae_max_exposure", default_value="10000"),
|
||||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
|
"laser_index1_laser_control", default_value="0"
|
||||||
DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
|
), # 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):
|
def get_params(context, args):
|
||||||
@@ -228,35 +246,44 @@ def generate_launch_description():
|
|||||||
)
|
)
|
||||||
]
|
]
|
||||||
else:
|
else:
|
||||||
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
|
attach_to_shared_component_container_arg = LaunchConfiguration(
|
||||||
component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
|
"attach_to_shared_component_container", default=False
|
||||||
|
)
|
||||||
|
component_container_name_arg = LaunchConfiguration(
|
||||||
|
"component_container_name", default="orbbec_container"
|
||||||
|
)
|
||||||
|
|
||||||
orbbec_container = Node(
|
orbbec_container = Node(
|
||||||
name=component_container_name_arg,
|
name=component_container_name_arg,
|
||||||
package='rclcpp_components',
|
package="rclcpp_components",
|
||||||
executable='component_container_mt',
|
executable="component_container_mt",
|
||||||
output='screen',
|
output="screen",
|
||||||
condition=UnlessCondition(attach_to_shared_component_container_arg)
|
condition=UnlessCondition(attach_to_shared_component_container_arg),
|
||||||
)
|
)
|
||||||
return [
|
return [
|
||||||
orbbec_container,
|
orbbec_container,
|
||||||
LoadComposableNodes(
|
LoadComposableNodes(
|
||||||
target_container=component_container_name_arg,
|
target_container=component_container_name_arg,
|
||||||
composable_node_descriptions=[
|
composable_node_descriptions=[
|
||||||
ComposableNode(
|
ComposableNode(
|
||||||
namespace=LaunchConfiguration("camera_name"),
|
namespace=LaunchConfiguration("camera_name"),
|
||||||
name=LaunchConfiguration("camera_name"),
|
name=LaunchConfiguration("camera_name"),
|
||||||
package='orbbec_camera',
|
package="orbbec_camera",
|
||||||
plugin='orbbec_camera::OBCameraNodeDriver',
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||||
parameters=params,
|
parameters=params,
|
||||||
extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
|
extra_arguments=[
|
||||||
)
|
{
|
||||||
]
|
"use_intra_process_comms": LaunchConfiguration(
|
||||||
)
|
"use_intra_process_comms"
|
||||||
|
)
|
||||||
|
}
|
||||||
|
],
|
||||||
|
)
|
||||||
|
],
|
||||||
|
),
|
||||||
]
|
]
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription(
|
||||||
args + [
|
args
|
||||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||||
]
|
|
||||||
)
|
)
|
||||||
|
|||||||
+251
-210
@@ -8,8 +8,9 @@ from launch_ros.descriptions import ComposableNode
|
|||||||
from launch.conditions import UnlessCondition
|
from launch.conditions import UnlessCondition
|
||||||
from launch_ros.actions import LoadComposableNodes
|
from launch_ros.actions import LoadComposableNodes
|
||||||
|
|
||||||
|
|
||||||
def load_yaml(file_path):
|
def load_yaml(file_path):
|
||||||
with open(file_path, 'r') as f:
|
with open(file_path, "r") as f:
|
||||||
return yaml.safe_load(f)
|
return yaml.safe_load(f)
|
||||||
|
|
||||||
|
|
||||||
@@ -30,20 +31,22 @@ def convert_value(value):
|
|||||||
return float(value)
|
return float(value)
|
||||||
except ValueError:
|
except ValueError:
|
||||||
pass
|
pass
|
||||||
if value.lower() == 'true':
|
if value.lower() == "true":
|
||||||
return True
|
return True
|
||||||
elif value.lower() == 'false':
|
elif value.lower() == "false":
|
||||||
return False
|
return False
|
||||||
return value
|
return value
|
||||||
|
|
||||||
|
|
||||||
def load_parameters(context, args):
|
def load_parameters(context, args):
|
||||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
default_params = {
|
||||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
|
||||||
|
}
|
||||||
|
config_file_path = LaunchConfiguration("config_file_path").perform(context)
|
||||||
if config_file_path:
|
if config_file_path:
|
||||||
yaml_params = load_yaml(config_file_path)
|
yaml_params = load_yaml(config_file_path)
|
||||||
default_params = merge_params(default_params, yaml_params)
|
default_params = merge_params(default_params, yaml_params)
|
||||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
skip_convert = {"config_file_path", "usb_port", "serial_number"}
|
||||||
return {
|
return {
|
||||||
key: (value if key in skip_convert else convert_value(value))
|
key: (value if key in skip_convert else convert_value(value))
|
||||||
for key, value in default_params.items()
|
for key, value in default_params.items()
|
||||||
@@ -52,195 +55,224 @@ def load_parameters(context, args):
|
|||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
args = [
|
args = [
|
||||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
DeclareLaunchArgument("camera_name", default_value="camera"),
|
||||||
DeclareLaunchArgument('depth_registration', default_value='true'),
|
DeclareLaunchArgument("depth_registration", default_value="true"),
|
||||||
DeclareLaunchArgument('serial_number', default_value=''),
|
DeclareLaunchArgument("serial_number", default_value=""),
|
||||||
DeclareLaunchArgument('usb_port', default_value=''),
|
DeclareLaunchArgument("usb_port", default_value=""),
|
||||||
DeclareLaunchArgument('device_num', default_value='1'),
|
DeclareLaunchArgument("device_num", default_value="1"),
|
||||||
DeclareLaunchArgument('preset_firmware_path', default_value=''),
|
DeclareLaunchArgument("preset_firmware_path", default_value=""),
|
||||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
|
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
|
||||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
|
||||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
DeclareLaunchArgument("cloud_frame_id", default_value=""),
|
||||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
DeclareLaunchArgument("connection_delay", default_value="10"),
|
||||||
DeclareLaunchArgument('color_width', default_value='0'),
|
DeclareLaunchArgument("color_width", default_value="0"),
|
||||||
DeclareLaunchArgument('color_height', default_value='0'),
|
DeclareLaunchArgument("color_height", default_value="0"),
|
||||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
DeclareLaunchArgument("color_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('color_format', default_value='ANY'),
|
DeclareLaunchArgument("color_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
DeclareLaunchArgument("enable_color", default_value="true"),
|
||||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
DeclareLaunchArgument("color_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
"enable_color_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
DeclareLaunchArgument("color_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
DeclareLaunchArgument("color_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
|
||||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
DeclareLaunchArgument("color_white_balance", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_sharpness', default_value='-1'),
|
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gamma', default_value='-1'),
|
DeclareLaunchArgument("color_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_saturation', default_value='-1'),
|
DeclareLaunchArgument("color_sharpness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_constrast', default_value='-1'),
|
DeclareLaunchArgument("color_gamma", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_hue', default_value='-1'),
|
DeclareLaunchArgument("color_saturation", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
|
DeclareLaunchArgument("color_constrast", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("color_hue", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
"enable_color_backlight_compenstation", default_value="false"
|
||||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
DeclareLaunchArgument("enable_color_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
DeclareLaunchArgument("color_decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
DeclareLaunchArgument("depth_width", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
DeclareLaunchArgument("depth_height", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument("depth_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
|
DeclareLaunchArgument("enable_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
|
DeclareLaunchArgument("depth_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
|
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_brightness', default_value='-1'),
|
"enable_depth_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_fps', default_value='0'),
|
DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_left_ir', default_value='false'),
|
DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_qos', default_value='default'),
|
DeclareLaunchArgument("depth_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("left_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("left_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
DeclareLaunchArgument("left_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
DeclareLaunchArgument("enable_left_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_fps', default_value='0'),
|
DeclareLaunchArgument("left_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_right_ir', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('right_ir_qos', default_value='default'),
|
"enable_left_ir_sequence_id_filter", default_value="false"
|
||||||
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
|
),
|
||||||
DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("left_ir_sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("right_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
DeclareLaunchArgument("right_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
DeclareLaunchArgument("right_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
DeclareLaunchArgument("right_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("enable_right_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
DeclareLaunchArgument("right_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
"enable_right_ir_sequence_id_filter", default_value="false"
|
||||||
DeclareLaunchArgument('accel_range', default_value='4g'),
|
),
|
||||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
DeclareLaunchArgument("right_ir_sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
|
DeclareLaunchArgument("ir_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
DeclareLaunchArgument("ir_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
DeclareLaunchArgument("ir_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
DeclareLaunchArgument("enable_accel", default_value="false"),
|
||||||
DeclareLaunchArgument('color_info_url', default_value=''),
|
DeclareLaunchArgument("accel_rate", default_value="200hz"),
|
||||||
|
DeclareLaunchArgument("accel_range", default_value="4g"),
|
||||||
|
DeclareLaunchArgument("enable_gyro", default_value="false"),
|
||||||
|
DeclareLaunchArgument("gyro_rate", default_value="200hz"),
|
||||||
|
DeclareLaunchArgument("gyro_range", default_value="1000dps"),
|
||||||
|
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
|
||||||
|
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
|
||||||
|
DeclareLaunchArgument("publish_tf", default_value="true"),
|
||||||
|
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
|
||||||
|
DeclareLaunchArgument("ir_info_url", default_value=""),
|
||||||
|
DeclareLaunchArgument("color_info_url", default_value=""),
|
||||||
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
|
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
|
||||||
# If you do not want to automatically enumerate network devices,
|
# If you do not want to automatically enumerate network devices,
|
||||||
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
|
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
|
||||||
DeclareLaunchArgument("enumerate_net_device", default_value="false"),
|
DeclareLaunchArgument("enumerate_net_device", default_value="false"),
|
||||||
DeclareLaunchArgument("net_device_ip", default_value=""),
|
DeclareLaunchArgument("net_device_ip", default_value=""),
|
||||||
DeclareLaunchArgument("net_device_port", default_value="0"),
|
DeclareLaunchArgument("net_device_port", default_value="0"),
|
||||||
DeclareLaunchArgument("exposure_range_mode", default_value="default"),#default, ultimate or regular
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('log_level', default_value='none'),
|
"exposure_range_mode", default_value="default"
|
||||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
), # default, ultimate or regular
|
||||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
DeclareLaunchArgument("log_level", default_value="none"),
|
||||||
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
|
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
|
||||||
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
|
DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
|
||||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
DeclareLaunchArgument("enable_ldp", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
DeclareLaunchArgument("ldp_power_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
DeclareLaunchArgument("frames_per_trigger", default_value="2"),
|
||||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
|
||||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
|
DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
"enable_hardware_noise_removal_filter", default_value="false"
|
||||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
),
|
||||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
|
||||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
"hardware_noise_removal_filter_threshold", default_value="-1.0"
|
||||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
|
||||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
|
||||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
DeclareLaunchArgument("align_mode", default_value="SW"),
|
||||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
|
||||||
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
|
DeclareLaunchArgument("enable_laser", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
DeclareLaunchArgument("device_preset", default_value="Default"),
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
|
||||||
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
|
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
|
DeclareLaunchArgument("enable_sync_host_time", default_value="true"),
|
||||||
DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
|
"time_domain", default_value="global"
|
||||||
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
|
), # global, device, system
|
||||||
DeclareLaunchArgument('offset_index0', default_value='-1'),
|
DeclareLaunchArgument("enable_color_undistortion", default_value="false"),
|
||||||
DeclareLaunchArgument('offset_index1', default_value='-1'),
|
DeclareLaunchArgument("config_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
|
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
|
||||||
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
|
DeclareLaunchArgument("gmsl_trigger_fps", default_value="3000"),
|
||||||
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
|
DeclareLaunchArgument("enable_gmsl_trigger", default_value="false"),
|
||||||
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
|
DeclareLaunchArgument("disparity_range_mode", default_value="-1"),
|
||||||
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
|
DeclareLaunchArgument("disparity_search_offset", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("disparity_offset_config", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
|
DeclareLaunchArgument("offset_index0", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
|
DeclareLaunchArgument("offset_index1", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
"frame_aggregate_mode", default_value="ANY"
|
||||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
), # full_frame、color_frame、ANY or disable
|
||||||
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
|
"interleave_ae_mode", default_value="laser"
|
||||||
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
|
), # 'hdr' or 'laser'
|
||||||
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("interleave_frame_enable", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
DeclareLaunchArgument("interleave_skip_enable", default_value="false"),
|
||||||
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
"interleave_skip_index", default_value="1"
|
||||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
), # 0:skip pattern ir 1: skip flood ir
|
||||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
"hdr_index1_laser_control", default_value="1"
|
||||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
), # interleave_hdr_param
|
||||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument("hdr_index1_depth_exposure", default_value="1"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument("hdr_index1_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
|
DeclareLaunchArgument("hdr_index1_ir_brightness", default_value="20"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("hdr_index1_ir_ae_max_exposure", default_value="2000"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
|
DeclareLaunchArgument("hdr_index0_laser_control", default_value="1"),
|
||||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
|
DeclareLaunchArgument("hdr_index0_depth_exposure", default_value="7500"),
|
||||||
DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
|
DeclareLaunchArgument("hdr_index0_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
|
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):
|
def get_params(context, args):
|
||||||
@@ -261,35 +293,44 @@ def generate_launch_description():
|
|||||||
)
|
)
|
||||||
]
|
]
|
||||||
else:
|
else:
|
||||||
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
|
attach_to_shared_component_container_arg = LaunchConfiguration(
|
||||||
component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
|
"attach_to_shared_component_container", default=False
|
||||||
|
)
|
||||||
|
component_container_name_arg = LaunchConfiguration(
|
||||||
|
"component_container_name", default="orbbec_container"
|
||||||
|
)
|
||||||
|
|
||||||
orbbec_container = Node(
|
orbbec_container = Node(
|
||||||
name=component_container_name_arg,
|
name=component_container_name_arg,
|
||||||
package='rclcpp_components',
|
package="rclcpp_components",
|
||||||
executable='component_container_mt',
|
executable="component_container_mt",
|
||||||
output='screen',
|
output="screen",
|
||||||
condition=UnlessCondition(attach_to_shared_component_container_arg)
|
condition=UnlessCondition(attach_to_shared_component_container_arg),
|
||||||
)
|
)
|
||||||
return [
|
return [
|
||||||
orbbec_container,
|
orbbec_container,
|
||||||
LoadComposableNodes(
|
LoadComposableNodes(
|
||||||
target_container=component_container_name_arg,
|
target_container=component_container_name_arg,
|
||||||
composable_node_descriptions=[
|
composable_node_descriptions=[
|
||||||
ComposableNode(
|
ComposableNode(
|
||||||
namespace=LaunchConfiguration("camera_name"),
|
namespace=LaunchConfiguration("camera_name"),
|
||||||
name=LaunchConfiguration("camera_name"),
|
name=LaunchConfiguration("camera_name"),
|
||||||
package='orbbec_camera',
|
package="orbbec_camera",
|
||||||
plugin='orbbec_camera::OBCameraNodeDriver',
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||||
parameters=params,
|
parameters=params,
|
||||||
extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
|
extra_arguments=[
|
||||||
)
|
{
|
||||||
]
|
"use_intra_process_comms": LaunchConfiguration(
|
||||||
)
|
"use_intra_process_comms"
|
||||||
|
)
|
||||||
|
}
|
||||||
|
],
|
||||||
|
)
|
||||||
|
],
|
||||||
|
),
|
||||||
]
|
]
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription(
|
||||||
args + [
|
args
|
||||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||||
]
|
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -573,7 +573,7 @@ class OBCameraNode {
|
|||||||
int left_ir_sequence_id_filter_id_ = -1;
|
int left_ir_sequence_id_filter_id_ = -1;
|
||||||
bool enable_frame_sync_ = false;
|
bool enable_frame_sync_ = false;
|
||||||
// Only for Gemini2 device
|
// Only for Gemini2 device
|
||||||
bool enable_hardware_d2d_ = true;
|
std::string disaparity_to_depth_mode_ = "HW";
|
||||||
std::string depth_work_mode_;
|
std::string depth_work_mode_;
|
||||||
OBMultiDeviceSyncMode sync_mode_ = OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN;
|
OBMultiDeviceSyncMode sync_mode_ = OBMultiDeviceSyncMode::OB_MULTI_DEVICE_SYNC_MODE_FREE_RUN;
|
||||||
std::string sync_mode_str_;
|
std::string sync_mode_str_;
|
||||||
|
|||||||
@@ -8,7 +8,7 @@ from launch_ros.descriptions import ComposableNode
|
|||||||
|
|
||||||
|
|
||||||
def load_yaml(file_path):
|
def load_yaml(file_path):
|
||||||
with open(file_path, 'r') as f:
|
with open(file_path, "r") as f:
|
||||||
return yaml.safe_load(f)
|
return yaml.safe_load(f)
|
||||||
|
|
||||||
|
|
||||||
@@ -29,20 +29,22 @@ def convert_value(value):
|
|||||||
return float(value)
|
return float(value)
|
||||||
except ValueError:
|
except ValueError:
|
||||||
pass
|
pass
|
||||||
if value.lower() == 'true':
|
if value.lower() == "true":
|
||||||
return True
|
return True
|
||||||
elif value.lower() == 'false':
|
elif value.lower() == "false":
|
||||||
return False
|
return False
|
||||||
return value
|
return value
|
||||||
|
|
||||||
|
|
||||||
def load_parameters(context, args):
|
def load_parameters(context, args):
|
||||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
default_params = {
|
||||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
|
||||||
|
}
|
||||||
|
config_file_path = LaunchConfiguration("config_file_path").perform(context)
|
||||||
if config_file_path:
|
if config_file_path:
|
||||||
yaml_params = load_yaml(config_file_path)
|
yaml_params = load_yaml(config_file_path)
|
||||||
default_params = merge_params(default_params, yaml_params)
|
default_params = merge_params(default_params, yaml_params)
|
||||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
skip_convert = {"config_file_path", "usb_port", "serial_number"}
|
||||||
return {
|
return {
|
||||||
key: (value if key in skip_convert else convert_value(value))
|
key: (value if key in skip_convert else convert_value(value))
|
||||||
for key, value in default_params.items()
|
for key, value in default_params.items()
|
||||||
@@ -51,144 +53,160 @@ def load_parameters(context, args):
|
|||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
args = [
|
args = [
|
||||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
DeclareLaunchArgument("camera_name", default_value="camera"),
|
||||||
DeclareLaunchArgument('depth_registration', default_value='true'),
|
DeclareLaunchArgument("depth_registration", default_value="true"),
|
||||||
DeclareLaunchArgument('serial_number', default_value=''),
|
DeclareLaunchArgument("serial_number", default_value=""),
|
||||||
DeclareLaunchArgument('usb_port', default_value=''),
|
DeclareLaunchArgument("usb_port", default_value=""),
|
||||||
DeclareLaunchArgument('device_num', default_value='1'),
|
DeclareLaunchArgument("device_num", default_value="1"),
|
||||||
DeclareLaunchArgument('upgrade_firmware', default_value=''),
|
DeclareLaunchArgument("upgrade_firmware", default_value=""),
|
||||||
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
|
DeclareLaunchArgument("load_config_json_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
|
DeclareLaunchArgument("export_config_json_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
|
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
|
||||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
|
||||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
DeclareLaunchArgument("cloud_frame_id", default_value=""),
|
||||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
DeclareLaunchArgument("connection_delay", default_value="10"),
|
||||||
DeclareLaunchArgument('color_width', default_value='0'),
|
DeclareLaunchArgument("color_width", default_value="0"),
|
||||||
DeclareLaunchArgument('color_height', default_value='0'),
|
DeclareLaunchArgument("color_height", default_value="0"),
|
||||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
DeclareLaunchArgument("color_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('color_format', default_value='ANY'),
|
DeclareLaunchArgument("color_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
DeclareLaunchArgument("enable_color", default_value="true"),
|
||||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
DeclareLaunchArgument("color_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
"enable_color_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
DeclareLaunchArgument("color_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
DeclareLaunchArgument("color_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
|
||||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
DeclareLaunchArgument("color_white_balance", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_sharpness', default_value='-1'),
|
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gamma', default_value='-1'),
|
DeclareLaunchArgument("color_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_saturation', default_value='-1'),
|
DeclareLaunchArgument("color_sharpness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_constrast', default_value='-1'),
|
DeclareLaunchArgument("color_gamma", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_hue', default_value='-1'),
|
DeclareLaunchArgument("color_saturation", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
|
DeclareLaunchArgument("color_constrast", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
|
DeclareLaunchArgument("color_hue", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
"enable_color_backlight_compenstation", default_value="false"
|
||||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
"color_powerline_freq", default_value=""
|
||||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
), # disable ,50hz ,60hz ,auto
|
||||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_width", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument("depth_height", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("depth_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_brightness', default_value='-1'),
|
DeclareLaunchArgument("depth_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
DeclareLaunchArgument("enable_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
DeclareLaunchArgument("depth_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('left_ir_fps', default_value='0'),
|
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_left_ir', default_value='false'),
|
"enable_depth_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('left_ir_qos', default_value='default'),
|
),
|
||||||
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
DeclareLaunchArgument("depth_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
DeclareLaunchArgument("left_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_fps', default_value='0'),
|
DeclareLaunchArgument("left_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("left_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_right_ir', default_value='false'),
|
DeclareLaunchArgument("left_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('right_ir_qos', default_value='default'),
|
DeclareLaunchArgument("enable_left_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
DeclareLaunchArgument("right_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
DeclareLaunchArgument("right_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("right_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
DeclareLaunchArgument("right_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
DeclareLaunchArgument("enable_right_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
DeclareLaunchArgument("right_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
|
DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('accel_range', default_value='3g'),
|
DeclareLaunchArgument("ir_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
DeclareLaunchArgument("ir_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
|
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
DeclareLaunchArgument("ir_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('gyro_range', default_value='250dps'),
|
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
DeclareLaunchArgument("enable_accel", default_value="false"),
|
||||||
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
DeclareLaunchArgument("enable_accel_data_correction", default_value="true"),
|
||||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
DeclareLaunchArgument("accel_rate", default_value="200hz"),
|
||||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
DeclareLaunchArgument("accel_range", default_value="3g"),
|
||||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
DeclareLaunchArgument("enable_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('color_info_url', default_value=''),
|
DeclareLaunchArgument("enable_gyro_data_correction", default_value="true"),
|
||||||
DeclareLaunchArgument('log_level', default_value='none'),
|
DeclareLaunchArgument("gyro_rate", default_value="200hz"),
|
||||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
DeclareLaunchArgument("gyro_range", default_value="250dps"),
|
||||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
|
||||||
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
|
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
|
||||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
DeclareLaunchArgument("publish_tf", default_value="true"),
|
||||||
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
|
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
|
||||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
DeclareLaunchArgument("ir_info_url", default_value=""),
|
||||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
DeclareLaunchArgument("color_info_url", default_value=""),
|
||||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
DeclareLaunchArgument("log_level", default_value="none"),
|
||||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
|
||||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
|
||||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
|
||||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
DeclareLaunchArgument("enable_ldp", default_value="true"),
|
||||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
DeclareLaunchArgument("ldp_power_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
DeclareLaunchArgument("frames_per_trigger", default_value="2"),
|
||||||
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
|
DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
|
||||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
|
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
|
||||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
"enable_hardware_noise_removal_filter", default_value="false"
|
||||||
DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
|
),
|
||||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
DeclareLaunchArgument("enable_disaparity_to_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
|
||||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
"hardware_noise_removal_filter_threshold", default_value="-1.0"
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
|
||||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
|
||||||
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
|
DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
|
DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
DeclareLaunchArgument("align_mode", default_value="SW"),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"align_target_stream", default_value="COLOR"
|
||||||
|
), # COLOR or DEPTH
|
||||||
|
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"),
|
||||||
]
|
]
|
||||||
|
|
||||||
def get_params(context, args):
|
def get_params(context, args):
|
||||||
@@ -210,28 +228,29 @@ def generate_launch_description():
|
|||||||
]
|
]
|
||||||
else:
|
else:
|
||||||
return [
|
return [
|
||||||
GroupAction([
|
GroupAction(
|
||||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
[
|
||||||
ComposableNodeContainer(
|
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||||
name="camera_container",
|
ComposableNodeContainer(
|
||||||
namespace="",
|
name="camera_container",
|
||||||
package="rclcpp_components",
|
namespace="",
|
||||||
executable="component_container",
|
package="rclcpp_components",
|
||||||
composable_node_descriptions=[
|
executable="component_container",
|
||||||
ComposableNode(
|
composable_node_descriptions=[
|
||||||
package="orbbec_camera",
|
ComposableNode(
|
||||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
package="orbbec_camera",
|
||||||
name=LaunchConfiguration("camera_name"),
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||||
parameters=params,
|
name=LaunchConfiguration("camera_name"),
|
||||||
),
|
parameters=params,
|
||||||
],
|
),
|
||||||
output="screen",
|
],
|
||||||
)
|
output="screen",
|
||||||
])
|
),
|
||||||
|
]
|
||||||
|
)
|
||||||
]
|
]
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription(
|
||||||
args + [
|
args
|
||||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||||
]
|
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -8,7 +8,7 @@ from launch_ros.descriptions import ComposableNode
|
|||||||
|
|
||||||
|
|
||||||
def load_yaml(file_path):
|
def load_yaml(file_path):
|
||||||
with open(file_path, 'r') as f:
|
with open(file_path, "r") as f:
|
||||||
return yaml.safe_load(f)
|
return yaml.safe_load(f)
|
||||||
|
|
||||||
|
|
||||||
@@ -29,20 +29,22 @@ def convert_value(value):
|
|||||||
return float(value)
|
return float(value)
|
||||||
except ValueError:
|
except ValueError:
|
||||||
pass
|
pass
|
||||||
if value.lower() == 'true':
|
if value.lower() == "true":
|
||||||
return True
|
return True
|
||||||
elif value.lower() == 'false':
|
elif value.lower() == "false":
|
||||||
return False
|
return False
|
||||||
return value
|
return value
|
||||||
|
|
||||||
|
|
||||||
def load_parameters(context, args):
|
def load_parameters(context, args):
|
||||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
default_params = {
|
||||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
|
||||||
|
}
|
||||||
|
config_file_path = LaunchConfiguration("config_file_path").perform(context)
|
||||||
if config_file_path:
|
if config_file_path:
|
||||||
yaml_params = load_yaml(config_file_path)
|
yaml_params = load_yaml(config_file_path)
|
||||||
default_params = merge_params(default_params, yaml_params)
|
default_params = merge_params(default_params, yaml_params)
|
||||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
skip_convert = {"config_file_path", "usb_port", "serial_number"}
|
||||||
return {
|
return {
|
||||||
key: (value if key in skip_convert else convert_value(value))
|
key: (value if key in skip_convert else convert_value(value))
|
||||||
for key, value in default_params.items()
|
for key, value in default_params.items()
|
||||||
@@ -51,144 +53,160 @@ def load_parameters(context, args):
|
|||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
args = [
|
args = [
|
||||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
DeclareLaunchArgument("camera_name", default_value="camera"),
|
||||||
DeclareLaunchArgument('depth_registration', default_value='true'),
|
DeclareLaunchArgument("depth_registration", default_value="true"),
|
||||||
DeclareLaunchArgument('serial_number', default_value=''),
|
DeclareLaunchArgument("serial_number", default_value=""),
|
||||||
DeclareLaunchArgument('usb_port', default_value=''),
|
DeclareLaunchArgument("usb_port", default_value=""),
|
||||||
DeclareLaunchArgument('device_num', default_value='1'),
|
DeclareLaunchArgument("device_num", default_value="1"),
|
||||||
DeclareLaunchArgument('upgrade_firmware', default_value=''),
|
DeclareLaunchArgument("upgrade_firmware", default_value=""),
|
||||||
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
|
DeclareLaunchArgument("load_config_json_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
|
DeclareLaunchArgument("export_config_json_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
|
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
|
||||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
|
||||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
DeclareLaunchArgument("cloud_frame_id", default_value=""),
|
||||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
DeclareLaunchArgument("connection_delay", default_value="10"),
|
||||||
DeclareLaunchArgument('color_width', default_value='0'),
|
DeclareLaunchArgument("color_width", default_value="0"),
|
||||||
DeclareLaunchArgument('color_height', default_value='0'),
|
DeclareLaunchArgument("color_height", default_value="0"),
|
||||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
DeclareLaunchArgument("color_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('color_format', default_value='ANY'),
|
DeclareLaunchArgument("color_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
DeclareLaunchArgument("enable_color", default_value="true"),
|
||||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
DeclareLaunchArgument("color_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
"enable_color_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
DeclareLaunchArgument("color_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
DeclareLaunchArgument("color_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
|
||||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
DeclareLaunchArgument("color_white_balance", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_sharpness', default_value='-1'),
|
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gamma', default_value='-1'),
|
DeclareLaunchArgument("color_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_saturation', default_value='-1'),
|
DeclareLaunchArgument("color_sharpness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_constrast', default_value='-1'),
|
DeclareLaunchArgument("color_gamma", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_hue', default_value='-1'),
|
DeclareLaunchArgument("color_saturation", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
|
DeclareLaunchArgument("color_constrast", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
|
DeclareLaunchArgument("color_hue", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
"enable_color_backlight_compenstation", default_value="false"
|
||||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
"color_powerline_freq", default_value=""
|
||||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
), # disable ,50hz ,60hz ,auto
|
||||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_width", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument("depth_height", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("depth_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_brightness', default_value='-1'),
|
DeclareLaunchArgument("depth_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
DeclareLaunchArgument("enable_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
DeclareLaunchArgument("depth_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('left_ir_fps', default_value='0'),
|
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_left_ir', default_value='false'),
|
"enable_depth_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('left_ir_qos', default_value='default'),
|
),
|
||||||
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
DeclareLaunchArgument("depth_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
DeclareLaunchArgument("left_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_fps', default_value='0'),
|
DeclareLaunchArgument("left_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("left_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_right_ir', default_value='false'),
|
DeclareLaunchArgument("left_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('right_ir_qos', default_value='default'),
|
DeclareLaunchArgument("enable_left_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
DeclareLaunchArgument("right_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
DeclareLaunchArgument("right_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("right_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
DeclareLaunchArgument("right_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
DeclareLaunchArgument("enable_right_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
DeclareLaunchArgument("right_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
|
DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('accel_range', default_value='3g'),
|
DeclareLaunchArgument("ir_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
DeclareLaunchArgument("ir_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
|
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
DeclareLaunchArgument("ir_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('gyro_range', default_value='250dps'),
|
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
DeclareLaunchArgument("enable_accel", default_value="false"),
|
||||||
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
DeclareLaunchArgument("enable_accel_data_correction", default_value="true"),
|
||||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
DeclareLaunchArgument("accel_rate", default_value="200hz"),
|
||||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
DeclareLaunchArgument("accel_range", default_value="3g"),
|
||||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
DeclareLaunchArgument("enable_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('color_info_url', default_value=''),
|
DeclareLaunchArgument("enable_gyro_data_correction", default_value="true"),
|
||||||
DeclareLaunchArgument('log_level', default_value='none'),
|
DeclareLaunchArgument("gyro_rate", default_value="200hz"),
|
||||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
DeclareLaunchArgument("gyro_range", default_value="250dps"),
|
||||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
|
||||||
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
|
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
|
||||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
DeclareLaunchArgument("publish_tf", default_value="true"),
|
||||||
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
|
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
|
||||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
DeclareLaunchArgument("ir_info_url", default_value=""),
|
||||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
DeclareLaunchArgument("color_info_url", default_value=""),
|
||||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
DeclareLaunchArgument("log_level", default_value="none"),
|
||||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
|
||||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
|
||||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
|
||||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
DeclareLaunchArgument("enable_ldp", default_value="true"),
|
||||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
DeclareLaunchArgument("ldp_power_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
DeclareLaunchArgument("frames_per_trigger", default_value="2"),
|
||||||
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
|
DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
|
||||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
|
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
|
||||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
"enable_hardware_noise_removal_filter", default_value="false"
|
||||||
DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
|
),
|
||||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
DeclareLaunchArgument("enable_disaparity_to_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
|
||||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
"hardware_noise_removal_filter_threshold", default_value="-1.0"
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
|
||||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
|
||||||
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
|
DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
|
DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
DeclareLaunchArgument("align_mode", default_value="SW"),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
"align_target_stream", default_value="COLOR"
|
||||||
|
), # COLOR or DEPTH
|
||||||
|
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"),
|
||||||
]
|
]
|
||||||
|
|
||||||
def get_params(context, args):
|
def get_params(context, args):
|
||||||
@@ -210,28 +228,29 @@ def generate_launch_description():
|
|||||||
]
|
]
|
||||||
else:
|
else:
|
||||||
return [
|
return [
|
||||||
GroupAction([
|
GroupAction(
|
||||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
[
|
||||||
ComposableNodeContainer(
|
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||||
name="camera_container",
|
ComposableNodeContainer(
|
||||||
namespace="",
|
name="camera_container",
|
||||||
package="rclcpp_components",
|
namespace="",
|
||||||
executable="component_container",
|
package="rclcpp_components",
|
||||||
composable_node_descriptions=[
|
executable="component_container",
|
||||||
ComposableNode(
|
composable_node_descriptions=[
|
||||||
package="orbbec_camera",
|
ComposableNode(
|
||||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
package="orbbec_camera",
|
||||||
name=LaunchConfiguration("camera_name"),
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||||
parameters=params,
|
name=LaunchConfiguration("camera_name"),
|
||||||
),
|
parameters=params,
|
||||||
],
|
),
|
||||||
output="screen",
|
],
|
||||||
)
|
output="screen",
|
||||||
])
|
),
|
||||||
|
]
|
||||||
|
)
|
||||||
]
|
]
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription(
|
||||||
args + [
|
args
|
||||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||||
]
|
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -8,7 +8,7 @@ from launch_ros.descriptions import ComposableNode
|
|||||||
|
|
||||||
|
|
||||||
def load_yaml(file_path):
|
def load_yaml(file_path):
|
||||||
with open(file_path, 'r') as f:
|
with open(file_path, "r") as f:
|
||||||
return yaml.safe_load(f)
|
return yaml.safe_load(f)
|
||||||
|
|
||||||
|
|
||||||
@@ -29,20 +29,22 @@ def convert_value(value):
|
|||||||
return float(value)
|
return float(value)
|
||||||
except ValueError:
|
except ValueError:
|
||||||
pass
|
pass
|
||||||
if value.lower() == 'true':
|
if value.lower() == "true":
|
||||||
return True
|
return True
|
||||||
elif value.lower() == 'false':
|
elif value.lower() == "false":
|
||||||
return False
|
return False
|
||||||
return value
|
return value
|
||||||
|
|
||||||
|
|
||||||
def load_parameters(context, args):
|
def load_parameters(context, args):
|
||||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
default_params = {
|
||||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
|
||||||
|
}
|
||||||
|
config_file_path = LaunchConfiguration("config_file_path").perform(context)
|
||||||
if config_file_path:
|
if config_file_path:
|
||||||
yaml_params = load_yaml(config_file_path)
|
yaml_params = load_yaml(config_file_path)
|
||||||
default_params = merge_params(default_params, yaml_params)
|
default_params = merge_params(default_params, yaml_params)
|
||||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
skip_convert = {"config_file_path", "usb_port", "serial_number"}
|
||||||
return {
|
return {
|
||||||
key: (value if key in skip_convert else convert_value(value))
|
key: (value if key in skip_convert else convert_value(value))
|
||||||
for key, value in default_params.items()
|
for key, value in default_params.items()
|
||||||
@@ -51,201 +53,233 @@ def load_parameters(context, args):
|
|||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
args = [
|
args = [
|
||||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
DeclareLaunchArgument("camera_name", default_value="camera"),
|
||||||
DeclareLaunchArgument('depth_registration', default_value='true'),
|
DeclareLaunchArgument("depth_registration", default_value="true"),
|
||||||
DeclareLaunchArgument('serial_number', default_value=''),
|
DeclareLaunchArgument("serial_number", default_value=""),
|
||||||
DeclareLaunchArgument('usb_port', default_value=''),
|
DeclareLaunchArgument("usb_port", default_value=""),
|
||||||
DeclareLaunchArgument('device_num', default_value='1'),
|
DeclareLaunchArgument("device_num", default_value="1"),
|
||||||
DeclareLaunchArgument('upgrade_firmware', default_value=''),
|
DeclareLaunchArgument("upgrade_firmware", default_value=""),
|
||||||
DeclareLaunchArgument('preset_firmware_path', default_value=''),
|
DeclareLaunchArgument("preset_firmware_path", default_value=""),
|
||||||
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
|
DeclareLaunchArgument("load_config_json_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
|
DeclareLaunchArgument("export_config_json_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
|
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
|
||||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
|
||||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
DeclareLaunchArgument("cloud_frame_id", default_value=""),
|
||||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
DeclareLaunchArgument("connection_delay", default_value="10"),
|
||||||
DeclareLaunchArgument('color_width', default_value='0'),
|
DeclareLaunchArgument("color_width", default_value="0"),
|
||||||
DeclareLaunchArgument('color_height', default_value='0'),
|
DeclareLaunchArgument("color_height", default_value="0"),
|
||||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
DeclareLaunchArgument("color_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('color_format', default_value='ANY'),
|
DeclareLaunchArgument("color_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
DeclareLaunchArgument("enable_color", default_value="true"),
|
||||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
DeclareLaunchArgument("color_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
|
"enable_color_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('color_flip', default_value='false'),
|
),
|
||||||
DeclareLaunchArgument('color_mirror', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
|
"color_rotation", default_value="-1"
|
||||||
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
|
), # color rotation degree : 0, 90, 180, 270
|
||||||
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
|
DeclareLaunchArgument("color_flip", default_value="false"),
|
||||||
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
|
DeclareLaunchArgument("color_mirror", default_value="false"),
|
||||||
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("color_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
DeclareLaunchArgument("color_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_sharpness', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
|
||||||
DeclareLaunchArgument('color_gamma', default_value='-1'),
|
DeclareLaunchArgument("color_white_balance", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_saturation', default_value='-1'),
|
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_constrast', default_value='-1'),
|
DeclareLaunchArgument("color_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_hue', default_value='-1'),
|
DeclareLaunchArgument("color_sharpness", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
|
DeclareLaunchArgument("color_gamma", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
|
DeclareLaunchArgument("color_saturation", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("color_constrast", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument("color_hue", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
"enable_color_backlight_compenstation", default_value="false"
|
||||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
"color_powerline_freq", default_value=""
|
||||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
), # disable ,50hz ,60hz ,auto
|
||||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("enable_color_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument("color_decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("depth_width", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_rotation', default_value='-1'),#depth rotation degree : 0, 90, 180, 270
|
DeclareLaunchArgument("depth_height", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_flip', default_value='false'),
|
DeclareLaunchArgument("depth_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_mirror', default_value='false'),
|
DeclareLaunchArgument("depth_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
|
DeclareLaunchArgument("enable_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
|
DeclareLaunchArgument("depth_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
|
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_brightness', default_value='-1'),
|
"enable_depth_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('left_ir_fps', default_value='0'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
"depth_rotation", default_value="-1"
|
||||||
DeclareLaunchArgument('enable_left_ir', default_value='false'),
|
), # depth rotation degree : 0, 90, 180, 270
|
||||||
DeclareLaunchArgument('left_ir_qos', default_value='default'),
|
DeclareLaunchArgument("depth_flip", default_value="false"),
|
||||||
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_mirror", default_value="false"),
|
||||||
DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
|
DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_flip', default_value='false'),
|
DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_mirror', default_value='false'),
|
DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("depth_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
DeclareLaunchArgument("left_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
DeclareLaunchArgument("left_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_fps', default_value='0'),
|
DeclareLaunchArgument("left_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("left_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_right_ir', default_value='false'),
|
DeclareLaunchArgument("enable_left_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('right_ir_flip', default_value='false'),
|
"left_ir_rotation", default_value="-1"
|
||||||
DeclareLaunchArgument('right_ir_mirror', default_value='false'),
|
), # left_ir rotation degree : 0, 90, 180, 270
|
||||||
DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("left_ir_flip", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("left_ir_mirror", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
"enable_left_ir_sequence_id_filter", default_value="false"
|
||||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("left_ir_sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
DeclareLaunchArgument("right_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
DeclareLaunchArgument("right_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
DeclareLaunchArgument("right_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
|
DeclareLaunchArgument("right_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
DeclareLaunchArgument("enable_right_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('accel_range', default_value='4g'),
|
DeclareLaunchArgument("right_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
"right_ir_rotation", default_value="-1"
|
||||||
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
|
), # right_ir rotation degree : 0, 90, 180, 270
|
||||||
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
DeclareLaunchArgument("right_ir_flip", default_value="false"),
|
||||||
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
DeclareLaunchArgument("right_ir_mirror", default_value="false"),
|
||||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
"enable_right_ir_sequence_id_filter", default_value="false"
|
||||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
),
|
||||||
DeclareLaunchArgument('color_info_url', default_value=''),
|
DeclareLaunchArgument("right_ir_sequence_id_filter_id", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
|
||||||
|
DeclareLaunchArgument("ir_exposure", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("ir_gain", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("ir_brightness", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
|
||||||
|
DeclareLaunchArgument("enable_accel", default_value="false"),
|
||||||
|
DeclareLaunchArgument("enable_accel_data_correction", default_value="true"),
|
||||||
|
DeclareLaunchArgument("accel_rate", default_value="200hz"),
|
||||||
|
DeclareLaunchArgument("accel_range", default_value="4g"),
|
||||||
|
DeclareLaunchArgument("enable_gyro", default_value="false"),
|
||||||
|
DeclareLaunchArgument("enable_gyro_data_correction", default_value="true"),
|
||||||
|
DeclareLaunchArgument("gyro_rate", default_value="200hz"),
|
||||||
|
DeclareLaunchArgument("gyro_range", default_value="1000dps"),
|
||||||
|
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
|
||||||
|
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
|
||||||
|
DeclareLaunchArgument("publish_tf", default_value="true"),
|
||||||
|
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
|
||||||
|
DeclareLaunchArgument("ir_info_url", default_value=""),
|
||||||
|
DeclareLaunchArgument("color_info_url", default_value=""),
|
||||||
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
|
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
|
||||||
# If you do not want to automatically enumerate network devices,
|
# If you do not want to automatically enumerate network devices,
|
||||||
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
|
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
|
||||||
DeclareLaunchArgument("enumerate_net_device", default_value='true'),
|
DeclareLaunchArgument("enumerate_net_device", default_value="true"),
|
||||||
DeclareLaunchArgument("net_device_ip", default_value=""),
|
DeclareLaunchArgument("net_device_ip", default_value=""),
|
||||||
DeclareLaunchArgument("net_device_port", default_value="0"),
|
DeclareLaunchArgument("net_device_port", default_value="0"),
|
||||||
DeclareLaunchArgument('log_level', default_value='none'),
|
DeclareLaunchArgument("log_level", default_value="none"),
|
||||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
|
DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
DeclareLaunchArgument("enable_ldp", default_value="true"),
|
||||||
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
|
DeclareLaunchArgument("ldp_power_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
|
||||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
DeclareLaunchArgument("frames_per_trigger", default_value="2"),
|
||||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
|
||||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
|
DeclareLaunchArgument("enable_disaparity_to_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
|
||||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
|
||||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
DeclareLaunchArgument("align_mode", default_value="SW"),
|
||||||
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
"align_target_stream", default_value="COLOR"
|
||||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
), # COLOR or DEPTH
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
|
||||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
DeclareLaunchArgument("enable_laser", default_value="true"),
|
||||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
DeclareLaunchArgument("device_preset", default_value="Default"),
|
||||||
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
|
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
DeclareLaunchArgument("enable_sync_host_time", default_value="true"),
|
||||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
"time_domain", default_value="global"
|
||||||
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
|
), # global, device, system
|
||||||
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
|
DeclareLaunchArgument("enable_color_undistortion", default_value="false"),
|
||||||
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
|
DeclareLaunchArgument("config_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
|
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
|
||||||
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
|
DeclareLaunchArgument(
|
||||||
|
"frame_aggregate_mode", default_value="ANY"
|
||||||
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
|
), # full_frame、color_frame、ANY or disable
|
||||||
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
"interleave_ae_mode", default_value="laser"
|
||||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
), # 'hdr' or 'laser'
|
||||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
DeclareLaunchArgument("interleave_frame_enable", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument("interleave_skip_enable", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
|
"interleave_skip_index", default_value="1"
|
||||||
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
|
), # 0:skip pattern ir 1: skip flood ir
|
||||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
DeclareLaunchArgument(
|
||||||
|
"hdr_index1_laser_control", default_value="1"
|
||||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
), # interleave_hdr_param
|
||||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument("hdr_index1_depth_exposure", default_value="1"),
|
||||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
DeclareLaunchArgument("hdr_index1_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("hdr_index1_ir_brightness", default_value="20"),
|
||||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
DeclareLaunchArgument("hdr_index1_ir_ae_max_exposure", default_value="2000"),
|
||||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument("hdr_index0_laser_control", default_value="1"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument("hdr_index0_depth_exposure", default_value="7500"),
|
||||||
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
|
DeclareLaunchArgument("hdr_index0_depth_gain", default_value="16"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
|
DeclareLaunchArgument("hdr_index0_ir_brightness", default_value="60"),
|
||||||
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
|
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"),
|
||||||
]
|
]
|
||||||
|
|
||||||
def get_params(context, args):
|
def get_params(context, args):
|
||||||
@@ -267,28 +301,29 @@ def generate_launch_description():
|
|||||||
]
|
]
|
||||||
else:
|
else:
|
||||||
return [
|
return [
|
||||||
GroupAction([
|
GroupAction(
|
||||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
[
|
||||||
ComposableNodeContainer(
|
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||||
name="camera_container",
|
ComposableNodeContainer(
|
||||||
namespace="",
|
name="camera_container",
|
||||||
package="rclcpp_components",
|
namespace="",
|
||||||
executable="component_container",
|
package="rclcpp_components",
|
||||||
composable_node_descriptions=[
|
executable="component_container",
|
||||||
ComposableNode(
|
composable_node_descriptions=[
|
||||||
package="orbbec_camera",
|
ComposableNode(
|
||||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
package="orbbec_camera",
|
||||||
name=LaunchConfiguration("camera_name"),
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||||
parameters=params,
|
name=LaunchConfiguration("camera_name"),
|
||||||
),
|
parameters=params,
|
||||||
],
|
),
|
||||||
output="screen",
|
],
|
||||||
)
|
output="screen",
|
||||||
])
|
),
|
||||||
|
]
|
||||||
|
)
|
||||||
]
|
]
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription(
|
||||||
args + [
|
args
|
||||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||||
]
|
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -8,7 +8,7 @@ from launch_ros.descriptions import ComposableNode
|
|||||||
|
|
||||||
|
|
||||||
def load_yaml(file_path):
|
def load_yaml(file_path):
|
||||||
with open(file_path, 'r') as f:
|
with open(file_path, "r") as f:
|
||||||
return yaml.safe_load(f)
|
return yaml.safe_load(f)
|
||||||
|
|
||||||
|
|
||||||
@@ -29,20 +29,22 @@ def convert_value(value):
|
|||||||
return float(value)
|
return float(value)
|
||||||
except ValueError:
|
except ValueError:
|
||||||
pass
|
pass
|
||||||
if value.lower() == 'true':
|
if value.lower() == "true":
|
||||||
return True
|
return True
|
||||||
elif value.lower() == 'false':
|
elif value.lower() == "false":
|
||||||
return False
|
return False
|
||||||
return value
|
return value
|
||||||
|
|
||||||
|
|
||||||
def load_parameters(context, args):
|
def load_parameters(context, args):
|
||||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
default_params = {
|
||||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
|
||||||
|
}
|
||||||
|
config_file_path = LaunchConfiguration("config_file_path").perform(context)
|
||||||
if config_file_path:
|
if config_file_path:
|
||||||
yaml_params = load_yaml(config_file_path)
|
yaml_params = load_yaml(config_file_path)
|
||||||
default_params = merge_params(default_params, yaml_params)
|
default_params = merge_params(default_params, yaml_params)
|
||||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
skip_convert = {"config_file_path", "usb_port", "serial_number"}
|
||||||
return {
|
return {
|
||||||
key: (value if key in skip_convert else convert_value(value))
|
key: (value if key in skip_convert else convert_value(value))
|
||||||
for key, value in default_params.items()
|
for key, value in default_params.items()
|
||||||
@@ -51,213 +53,253 @@ def load_parameters(context, args):
|
|||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
args = [
|
args = [
|
||||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
DeclareLaunchArgument("camera_name", default_value="camera"),
|
||||||
DeclareLaunchArgument('depth_registration', default_value='true'),
|
DeclareLaunchArgument("depth_registration", default_value="true"),
|
||||||
DeclareLaunchArgument('serial_number', default_value=''),
|
DeclareLaunchArgument("serial_number", default_value=""),
|
||||||
DeclareLaunchArgument('usb_port', default_value=''),
|
DeclareLaunchArgument("usb_port", default_value=""),
|
||||||
DeclareLaunchArgument('device_num', default_value='1'),
|
DeclareLaunchArgument("device_num", default_value="1"),
|
||||||
DeclareLaunchArgument('upgrade_firmware', default_value=''),
|
DeclareLaunchArgument("upgrade_firmware", default_value=""),
|
||||||
DeclareLaunchArgument('preset_firmware_path', default_value=''),
|
DeclareLaunchArgument("preset_firmware_path", default_value=""),
|
||||||
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
|
DeclareLaunchArgument("load_config_json_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
|
DeclareLaunchArgument("export_config_json_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
|
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
|
||||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
|
||||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
DeclareLaunchArgument("cloud_frame_id", default_value=""),
|
||||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
DeclareLaunchArgument("connection_delay", default_value="10"),
|
||||||
DeclareLaunchArgument('color_width', default_value='0'),
|
DeclareLaunchArgument("color_width", default_value="0"),
|
||||||
DeclareLaunchArgument('color_height', default_value='0'),
|
DeclareLaunchArgument("color_height", default_value="0"),
|
||||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
DeclareLaunchArgument("color_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('color_format', default_value='ANY'),
|
DeclareLaunchArgument("color_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
DeclareLaunchArgument("enable_color", default_value="true"),
|
||||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
DeclareLaunchArgument("color_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
|
"enable_color_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('color_flip', default_value='false'),
|
),
|
||||||
DeclareLaunchArgument('color_mirror', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
|
"color_rotation", default_value="-1"
|
||||||
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
|
), # color rotation degree : 0, 90, 180, 270
|
||||||
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
|
DeclareLaunchArgument("color_flip", default_value="false"),
|
||||||
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
|
DeclareLaunchArgument("color_mirror", default_value="false"),
|
||||||
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("color_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
DeclareLaunchArgument("color_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_sharpness', default_value='-1'),
|
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
|
||||||
DeclareLaunchArgument('color_gamma', default_value='-1'),
|
DeclareLaunchArgument("color_white_balance", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_saturation', default_value='-1'),
|
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_constrast', default_value='-1'),
|
DeclareLaunchArgument("color_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_hue', default_value='-1'),
|
DeclareLaunchArgument("color_sharpness", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
|
DeclareLaunchArgument("color_gamma", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
|
DeclareLaunchArgument("color_saturation", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("color_constrast", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument("color_hue", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
"enable_color_backlight_compenstation", default_value="false"
|
||||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
"color_powerline_freq", default_value=""
|
||||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
), # disable ,50hz ,60hz ,auto
|
||||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("enable_color_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
|
DeclareLaunchArgument("color_decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("depth_width", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_rotation', default_value='-1'),#depth rotation degree : 0, 90, 180, 270
|
DeclareLaunchArgument("depth_height", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_flip', default_value='false'),
|
DeclareLaunchArgument("depth_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_mirror', default_value='false'),
|
DeclareLaunchArgument("depth_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
|
DeclareLaunchArgument("enable_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
|
DeclareLaunchArgument("depth_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
|
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('depth_brightness', default_value='-1'),
|
"enable_depth_auto_exposure_priority", default_value="false"
|
||||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
),
|
||||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('left_ir_fps', default_value='0'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
"depth_rotation", default_value="-1"
|
||||||
DeclareLaunchArgument('enable_left_ir', default_value='false'),
|
), # depth rotation degree : 0, 90, 180, 270
|
||||||
DeclareLaunchArgument('left_ir_qos', default_value='default'),
|
DeclareLaunchArgument("depth_flip", default_value="false"),
|
||||||
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_mirror", default_value="false"),
|
||||||
DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
|
DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_flip', default_value='false'),
|
DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_mirror', default_value='false'),
|
DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"),
|
||||||
DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("depth_brightness", default_value="-1"),
|
||||||
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
DeclareLaunchArgument("left_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
DeclareLaunchArgument("left_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_fps', default_value='0'),
|
DeclareLaunchArgument("left_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("left_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_right_ir', default_value='false'),
|
DeclareLaunchArgument("enable_left_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('right_ir_flip', default_value='false'),
|
"left_ir_rotation", default_value="-1"
|
||||||
DeclareLaunchArgument('right_ir_mirror', default_value='false'),
|
), # left_ir rotation degree : 0, 90, 180, 270
|
||||||
DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("left_ir_flip", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("left_ir_mirror", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
"enable_left_ir_sequence_id_filter", default_value="false"
|
||||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
DeclareLaunchArgument("left_ir_sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
DeclareLaunchArgument("right_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
DeclareLaunchArgument("right_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
DeclareLaunchArgument("right_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
|
DeclareLaunchArgument("right_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
DeclareLaunchArgument("enable_right_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('accel_range', default_value='4g'),
|
DeclareLaunchArgument("right_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
"right_ir_rotation", default_value="-1"
|
||||||
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
|
), # right_ir rotation degree : 0, 90, 180, 270
|
||||||
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
DeclareLaunchArgument("right_ir_flip", default_value="false"),
|
||||||
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
DeclareLaunchArgument("right_ir_mirror", default_value="false"),
|
||||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
"enable_right_ir_sequence_id_filter", default_value="false"
|
||||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
),
|
||||||
DeclareLaunchArgument('color_info_url', default_value=''),
|
DeclareLaunchArgument("right_ir_sequence_id_filter_id", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
|
||||||
|
DeclareLaunchArgument("ir_exposure", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("ir_gain", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("ir_brightness", default_value="-1"),
|
||||||
|
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
|
||||||
|
DeclareLaunchArgument("enable_accel", default_value="false"),
|
||||||
|
DeclareLaunchArgument("enable_accel_data_correction", default_value="true"),
|
||||||
|
DeclareLaunchArgument("accel_rate", default_value="200hz"),
|
||||||
|
DeclareLaunchArgument("accel_range", default_value="4g"),
|
||||||
|
DeclareLaunchArgument("enable_gyro", default_value="false"),
|
||||||
|
DeclareLaunchArgument("enable_gyro_data_correction", default_value="true"),
|
||||||
|
DeclareLaunchArgument("gyro_rate", default_value="200hz"),
|
||||||
|
DeclareLaunchArgument("gyro_range", default_value="1000dps"),
|
||||||
|
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
|
||||||
|
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
|
||||||
|
DeclareLaunchArgument("publish_tf", default_value="true"),
|
||||||
|
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
|
||||||
|
DeclareLaunchArgument("ir_info_url", default_value=""),
|
||||||
|
DeclareLaunchArgument("color_info_url", default_value=""),
|
||||||
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
|
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
|
||||||
# If you do not want to automatically enumerate network devices,
|
# If you do not want to automatically enumerate network devices,
|
||||||
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
|
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
|
||||||
DeclareLaunchArgument("enumerate_net_device", default_value="false"),
|
DeclareLaunchArgument("enumerate_net_device", default_value="false"),
|
||||||
DeclareLaunchArgument("net_device_ip", default_value=""),
|
DeclareLaunchArgument("net_device_ip", default_value=""),
|
||||||
DeclareLaunchArgument("net_device_port", default_value="0"),
|
DeclareLaunchArgument("net_device_port", default_value="0"),
|
||||||
DeclareLaunchArgument("exposure_range_mode", default_value="default"),#default, ultimate or regular
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('log_level', default_value='none'),
|
"exposure_range_mode", default_value="default"
|
||||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
), # default, ultimate or regular
|
||||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
DeclareLaunchArgument("log_level", default_value="none"),
|
||||||
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
|
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
|
||||||
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
|
DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
|
||||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
DeclareLaunchArgument("enable_ldp", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
DeclareLaunchArgument("ldp_power_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
|
DeclareLaunchArgument("frames_per_trigger", default_value="2"),
|
||||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
|
||||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
"enable_ptp_config", default_value="false"
|
||||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
), # Only for Gemini 335Le
|
||||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
|
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
"enable_hardware_noise_removal_filter", default_value="false"
|
||||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
),
|
||||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
|
||||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("enable_disaparity_to_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
"hardware_noise_removal_filter_threshold", default_value="-1.0"
|
||||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
),
|
||||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||||
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
|
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
DeclareLaunchArgument("align_mode", default_value="SW"),
|
||||||
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
"align_target_stream", default_value="COLOR"
|
||||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
), # COLOR or DEPTH
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
|
||||||
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
|
DeclareLaunchArgument("enable_laser", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
|
DeclareLaunchArgument("device_preset", default_value="Default"),
|
||||||
DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
|
DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
|
||||||
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
|
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('offset_index0', default_value='-1'),
|
DeclareLaunchArgument("enable_sync_host_time", default_value="true"),
|
||||||
DeclareLaunchArgument('offset_index1', default_value='-1'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
|
"time_domain", default_value="global"
|
||||||
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
|
), # global, device, system
|
||||||
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
|
DeclareLaunchArgument("enable_color_undistortion", default_value="false"),
|
||||||
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
|
DeclareLaunchArgument("config_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
|
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
|
||||||
|
DeclareLaunchArgument("gmsl_trigger_fps", default_value="3000"),
|
||||||
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
|
DeclareLaunchArgument("enable_gmsl_trigger", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
|
DeclareLaunchArgument("disparity_range_mode", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
DeclareLaunchArgument("disparity_search_offset", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
DeclareLaunchArgument("disparity_offset_config", default_value="false"),
|
||||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
DeclareLaunchArgument("offset_index0", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
|
DeclareLaunchArgument("offset_index1", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
|
"frame_aggregate_mode", default_value="ANY"
|
||||||
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
|
), # full_frame、color_frame、ANY or disable
|
||||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
DeclareLaunchArgument(
|
||||||
|
"interleave_ae_mode", default_value="laser"
|
||||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
), # 'hdr' or 'laser'
|
||||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument("interleave_frame_enable", default_value="false"),
|
||||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
DeclareLaunchArgument("interleave_skip_enable", default_value="false"),
|
||||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
"interleave_skip_index", default_value="1"
|
||||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
), # 0:skip pattern ir 1: skip flood ir
|
||||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
|
"hdr_index1_laser_control", default_value="1"
|
||||||
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
|
), # interleave_hdr_param
|
||||||
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
|
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"),
|
||||||
]
|
]
|
||||||
|
|
||||||
def get_params(context, args):
|
def get_params(context, args):
|
||||||
@@ -279,28 +321,29 @@ def generate_launch_description():
|
|||||||
]
|
]
|
||||||
else:
|
else:
|
||||||
return [
|
return [
|
||||||
GroupAction([
|
GroupAction(
|
||||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
[
|
||||||
ComposableNodeContainer(
|
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||||
name="camera_container",
|
ComposableNodeContainer(
|
||||||
namespace="",
|
name="camera_container",
|
||||||
package="rclcpp_components",
|
namespace="",
|
||||||
executable="component_container",
|
package="rclcpp_components",
|
||||||
composable_node_descriptions=[
|
executable="component_container",
|
||||||
ComposableNode(
|
composable_node_descriptions=[
|
||||||
package="orbbec_camera",
|
ComposableNode(
|
||||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
package="orbbec_camera",
|
||||||
name=LaunchConfiguration("camera_name"),
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||||
parameters=params,
|
name=LaunchConfiguration("camera_name"),
|
||||||
),
|
parameters=params,
|
||||||
],
|
),
|
||||||
output="screen",
|
],
|
||||||
)
|
output="screen",
|
||||||
])
|
),
|
||||||
|
]
|
||||||
|
)
|
||||||
]
|
]
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription(
|
||||||
args + [
|
args
|
||||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||||
]
|
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -8,7 +8,7 @@ from launch_ros.descriptions import ComposableNode
|
|||||||
|
|
||||||
|
|
||||||
def load_yaml(file_path):
|
def load_yaml(file_path):
|
||||||
with open(file_path, 'r') as f:
|
with open(file_path, "r") as f:
|
||||||
return yaml.safe_load(f)
|
return yaml.safe_load(f)
|
||||||
|
|
||||||
|
|
||||||
@@ -29,20 +29,22 @@ def convert_value(value):
|
|||||||
return float(value)
|
return float(value)
|
||||||
except ValueError:
|
except ValueError:
|
||||||
pass
|
pass
|
||||||
if value.lower() == 'true':
|
if value.lower() == "true":
|
||||||
return True
|
return True
|
||||||
elif value.lower() == 'false':
|
elif value.lower() == "false":
|
||||||
return False
|
return False
|
||||||
return value
|
return value
|
||||||
|
|
||||||
|
|
||||||
def load_parameters(context, args):
|
def load_parameters(context, args):
|
||||||
default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
default_params = {
|
||||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
|
||||||
|
}
|
||||||
|
config_file_path = LaunchConfiguration("config_file_path").perform(context)
|
||||||
if config_file_path:
|
if config_file_path:
|
||||||
yaml_params = load_yaml(config_file_path)
|
yaml_params = load_yaml(config_file_path)
|
||||||
default_params = merge_params(default_params, yaml_params)
|
default_params = merge_params(default_params, yaml_params)
|
||||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
skip_convert = {"config_file_path", "usb_port", "serial_number"}
|
||||||
return {
|
return {
|
||||||
key: (value if key in skip_convert else convert_value(value))
|
key: (value if key in skip_convert else convert_value(value))
|
||||||
for key, value in default_params.items()
|
for key, value in default_params.items()
|
||||||
@@ -51,123 +53,125 @@ def load_parameters(context, args):
|
|||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
args = [
|
args = [
|
||||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
DeclareLaunchArgument("camera_name", default_value="camera"),
|
||||||
DeclareLaunchArgument('depth_registration', default_value='true'),
|
DeclareLaunchArgument("depth_registration", default_value="true"),
|
||||||
DeclareLaunchArgument('serial_number', default_value=''),
|
DeclareLaunchArgument("serial_number", default_value=""),
|
||||||
DeclareLaunchArgument('usb_port', default_value=''),
|
DeclareLaunchArgument("usb_port", default_value=""),
|
||||||
DeclareLaunchArgument('device_num', default_value='1'),
|
DeclareLaunchArgument("device_num", default_value="1"),
|
||||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
|
DeclareLaunchArgument("enable_point_cloud", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
|
DeclareLaunchArgument("enable_colored_point_cloud", default_value="true"),
|
||||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
DeclareLaunchArgument("cloud_frame_id", default_value=""),
|
||||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
DeclareLaunchArgument("connection_delay", default_value="10"),
|
||||||
DeclareLaunchArgument('color_width', default_value='0'),
|
DeclareLaunchArgument("color_width", default_value="0"),
|
||||||
DeclareLaunchArgument('color_height', default_value='0'),
|
DeclareLaunchArgument("color_height", default_value="0"),
|
||||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
DeclareLaunchArgument("color_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('color_format', default_value='ANY'),
|
DeclareLaunchArgument("color_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
DeclareLaunchArgument("enable_color", default_value="true"),
|
||||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
DeclareLaunchArgument("color_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
DeclareLaunchArgument("color_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
DeclareLaunchArgument("color_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
|
||||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
DeclareLaunchArgument("color_white_balance", default_value="-1"),
|
||||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
DeclareLaunchArgument("depth_width", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
DeclareLaunchArgument("depth_height", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
DeclareLaunchArgument("depth_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
DeclareLaunchArgument("depth_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
DeclareLaunchArgument("enable_depth", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
DeclareLaunchArgument("depth_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
DeclareLaunchArgument("left_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
DeclareLaunchArgument("left_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('left_ir_fps', default_value='0'),
|
DeclareLaunchArgument("left_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("left_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_left_ir', default_value='false'),
|
DeclareLaunchArgument("enable_left_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('left_ir_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
DeclareLaunchArgument("right_ir_width", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
DeclareLaunchArgument("right_ir_height", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_fps', default_value='0'),
|
DeclareLaunchArgument("right_ir_fps", default_value="0"),
|
||||||
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
|
DeclareLaunchArgument("right_ir_format", default_value="ANY"),
|
||||||
DeclareLaunchArgument('enable_right_ir', default_value='false'),
|
DeclareLaunchArgument("enable_right_ir", default_value="false"),
|
||||||
DeclareLaunchArgument('right_ir_qos', default_value='default'),
|
DeclareLaunchArgument("right_ir_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
|
DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
|
||||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
|
||||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
DeclareLaunchArgument("ir_exposure", default_value="-1"),
|
||||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
DeclareLaunchArgument("ir_gain", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
DeclareLaunchArgument("enable_accel", default_value="false"),
|
||||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
DeclareLaunchArgument("accel_rate", default_value="200hz"),
|
||||||
DeclareLaunchArgument('accel_range', default_value='4g'),
|
DeclareLaunchArgument("accel_range", default_value="4g"),
|
||||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
DeclareLaunchArgument("enable_gyro", default_value="false"),
|
||||||
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
DeclareLaunchArgument("gyro_rate", default_value="200hz"),
|
||||||
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
|
DeclareLaunchArgument("gyro_range", default_value="1000dps"),
|
||||||
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
|
||||||
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
|
||||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
DeclareLaunchArgument("publish_tf", default_value="true"),
|
||||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
|
||||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
DeclareLaunchArgument("ir_info_url", default_value=""),
|
||||||
DeclareLaunchArgument('color_info_url', default_value=''),
|
DeclareLaunchArgument("color_info_url", default_value=""),
|
||||||
DeclareLaunchArgument('log_level', default_value='none'),
|
DeclareLaunchArgument("log_level", default_value="none"),
|
||||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
|
DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
DeclareLaunchArgument("enable_ldp", default_value="true"),
|
||||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
|
||||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
DeclareLaunchArgument("frames_per_trigger", default_value="2"),
|
||||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
|
||||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
|
||||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
|
||||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
|
||||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
|
||||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
|
||||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
|
||||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
|
||||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
|
||||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
DeclareLaunchArgument("align_mode", default_value="SW"),
|
||||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
|
||||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
DeclareLaunchArgument("enable_laser", default_value="true"),
|
||||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
DeclareLaunchArgument("device_preset", default_value="Default"),
|
||||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
|
||||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
|
||||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
DeclareLaunchArgument("enable_sync_host_time", default_value="true"),
|
||||||
DeclareLaunchArgument('time_domain', default_value='device'),
|
DeclareLaunchArgument("time_domain", default_value="device"),
|
||||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
DeclareLaunchArgument("enable_color_undistortion", default_value="false"),
|
||||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
DeclareLaunchArgument("config_file_path", default_value=""),
|
||||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
|
||||||
DeclareLaunchArgument('topic_type', default_value='points'),
|
DeclareLaunchArgument("topic_type", default_value="points"),
|
||||||
DeclareLaunchArgument('topic_name', default_value='/camera/depth_registered/points'),
|
DeclareLaunchArgument(
|
||||||
DeclareLaunchArgument('use_intra_process_comms', default_value='true'),
|
"topic_name", default_value="/camera/depth_registered/points"
|
||||||
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
|
),
|
||||||
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
|
DeclareLaunchArgument("use_intra_process_comms", default_value="true"),
|
||||||
|
DeclareLaunchArgument("gmsl_trigger_fps", default_value="3000"),
|
||||||
|
DeclareLaunchArgument("enable_gmsl_trigger", default_value="false"),
|
||||||
]
|
]
|
||||||
|
|
||||||
def get_params(context, args):
|
def get_params(context, args):
|
||||||
@@ -178,41 +182,49 @@ def generate_launch_description():
|
|||||||
ros_distro = os.environ.get("ROS_DISTRO", "humble")
|
ros_distro = os.environ.get("ROS_DISTRO", "humble")
|
||||||
if ros_distro == "humble":
|
if ros_distro == "humble":
|
||||||
return [
|
return [
|
||||||
GroupAction([
|
GroupAction(
|
||||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
[
|
||||||
ComposableNodeContainer(
|
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||||
name="camera_container",
|
ComposableNodeContainer(
|
||||||
namespace="",
|
name="camera_container",
|
||||||
package="rclcpp_components",
|
namespace="",
|
||||||
executable="component_container",
|
package="rclcpp_components",
|
||||||
composable_node_descriptions=[
|
executable="component_container",
|
||||||
ComposableNode(
|
composable_node_descriptions=[
|
||||||
package="orbbec_camera",
|
ComposableNode(
|
||||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
package="orbbec_camera",
|
||||||
name=LaunchConfiguration("camera_name"),
|
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||||
parameters=params,
|
name=LaunchConfiguration("camera_name"),
|
||||||
extra_arguments=[{'use_intra_process_comms': True}],
|
parameters=params,
|
||||||
),
|
extra_arguments=[{"use_intra_process_comms": True}],
|
||||||
ComposableNode(
|
),
|
||||||
package="orbbec_camera",
|
ComposableNode(
|
||||||
plugin="orbbec_camera::FrameLatencyNode",
|
package="orbbec_camera",
|
||||||
name="frame_latency",
|
plugin="orbbec_camera::FrameLatencyNode",
|
||||||
parameters=[
|
name="frame_latency",
|
||||||
{"topic_name": LaunchConfiguration("topic_name")},
|
parameters=[
|
||||||
{"topic_type": LaunchConfiguration("topic_type")},
|
{
|
||||||
],
|
"topic_name": LaunchConfiguration(
|
||||||
|
"topic_name"
|
||||||
extra_arguments=[{'use_intra_process_comms': True}],
|
)
|
||||||
),
|
},
|
||||||
],
|
{
|
||||||
output="screen",
|
"topic_type": LaunchConfiguration(
|
||||||
#prefix=['xterm -e gdb -ex run --args'],
|
"topic_type"
|
||||||
)
|
)
|
||||||
])
|
},
|
||||||
|
],
|
||||||
|
extra_arguments=[{"use_intra_process_comms": True}],
|
||||||
|
),
|
||||||
|
],
|
||||||
|
output="screen",
|
||||||
|
# prefix=['xterm -e gdb -ex run --args'],
|
||||||
|
),
|
||||||
|
]
|
||||||
|
)
|
||||||
]
|
]
|
||||||
|
|
||||||
return LaunchDescription(
|
return LaunchDescription(
|
||||||
args + [
|
args
|
||||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||||
]
|
|
||||||
)
|
)
|
||||||
|
|||||||
@@ -203,11 +203,20 @@ void OBCameraNode::setupDevices() {
|
|||||||
RCLCPP_INFO_STREAM(logger_, "Create align filter");
|
RCLCPP_INFO_STREAM(logger_, "Create align filter");
|
||||||
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
|
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
|
||||||
}
|
}
|
||||||
if (device_->isPropertySupported(OB_PROP_DISPARITY_TO_DEPTH_BOOL, OB_PERMISSION_READ_WRITE)) {
|
if (disaparity_to_depth_mode_ == "HW") {
|
||||||
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DISPARITY_TO_DEPTH_BOOL, enable_hardware_d2d_);
|
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 1);
|
||||||
bool is_hardware_d2d = device_->getBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL);
|
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
|
||||||
std::string d2d_mode = is_hardware_d2d ? "HW D2D" : "SW D2D";
|
RCLCPP_INFO_STREAM(logger_, "Depth process is HW");
|
||||||
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
|
} else if (disaparity_to_depth_mode_ == "SW") {
|
||||||
|
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
|
||||||
|
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 1);
|
||||||
|
RCLCPP_INFO_STREAM(logger_, "Depth process is SW");
|
||||||
|
} else if (disaparity_to_depth_mode_ == "disable") {
|
||||||
|
device_->setBoolProperty(OB_PROP_DISPARITY_TO_DEPTH_BOOL, 0);
|
||||||
|
device_->setBoolProperty(OB_PROP_SDK_DISPARITY_TO_DEPTH_BOOL, 0);
|
||||||
|
RCLCPP_INFO_STREAM(logger_, "Depth process is disable");
|
||||||
|
} else {
|
||||||
|
RCLCPP_ERROR_STREAM(logger_, "Depth process is keep default");
|
||||||
}
|
}
|
||||||
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
|
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
|
||||||
RCLCPP_INFO_STREAM(logger_, "Setting LDP to " << (enable_ldp_ ? "ON" : "OFF"));
|
RCLCPP_INFO_STREAM(logger_, "Setting LDP to " << (enable_ldp_ ? "ON" : "OFF"));
|
||||||
@@ -1560,7 +1569,7 @@ void OBCameraNode::getParameters() {
|
|||||||
setAndGetNodeParameter<bool>(enable_point_cloud_, "enable_point_cloud", false);
|
setAndGetNodeParameter<bool>(enable_point_cloud_, "enable_point_cloud", false);
|
||||||
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
|
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
|
||||||
setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false);
|
setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false);
|
||||||
setAndGetNodeParameter<bool>(enable_hardware_d2d_, "enable_hardware_d2d", true);
|
setAndGetNodeParameter<std::string>(disaparity_to_depth_mode_, "disaparity_to_depth_mode", "HW");
|
||||||
setAndGetNodeParameter<std::string>(depth_filter_config_, "depth_filter_config", "");
|
setAndGetNodeParameter<std::string>(depth_filter_config_, "depth_filter_config", "");
|
||||||
if (!depth_filter_config_.empty()) {
|
if (!depth_filter_config_.empty()) {
|
||||||
enable_depth_filter_ = true;
|
enable_depth_filter_ = true;
|
||||||
|
|||||||
Reference in New Issue
Block a user