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[launch]Update multi_camera_synced_components.launch.py

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This commit is contained in:
jj
2024-12-03 16:43:22 +08:00
parent 35d57938f9
commit 49bf5898c2
1 changed files with 38 additions and 29 deletions
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orbbec_camera/launch/multi_camera_synced_components.launch.py
+38 -29
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@@ -1,12 +1,15 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os
import time
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import DeclareLaunchArgument
from launch.conditions import UnlessCondition, IfCondition
from launch.substitutions import LaunchConfiguration
from launch.actions import TimerAction
from launch.substitutions import TextSubstitution
def generate_launch_description():
# Include launch files
package_dir = get_package_share_directory("orbbec_camera")
@@ -15,50 +18,57 @@ def generate_launch_description():
config_file_335_path = os.path.join(config_file_dir, "camera_335_params.yaml")
config_file_335L_path = os.path.join(config_file_dir, "camera_335L_params.yaml")
use_intra_process_comms_arg = DeclareLaunchArgument(
use_intra_process_comms_declare = DeclareLaunchArgument(
'use_intra_process_comms', default_value='false',
)
attach_to_shared_component_container_arg = DeclareLaunchArgument(
attach_to_shared_component_container_declare = DeclareLaunchArgument(
'attach_to_shared_component_container', default_value='false',
)
component_container_name_declare = DeclareLaunchArgument(
'component_container_name', default_value='shared_orbbec_container'
)
shared_container_name = "shared_orbbec_container"
shared_container = Node(
name=shared_container_name,
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
shared_orbbec_container = Node(
name=component_container_name_arg,
package='rclcpp_components',
executable='component_container_mt',
output='screen',
condition=IfCondition(LaunchConfiguration('attach_to_shared_component_container'))
condition=UnlessCondition(attach_to_shared_component_container_arg)
)
G0_6D = IncludeLaunchDescription(
attach_to_shared_component_container_arg = TextSubstitution(text='true')
G0_41 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
),
launch_arguments={
"camera_name": "G0_6D",
"usb_port": "2-3.2",
"camera_name": "G0_41",
"usb_port": "2-7",
"device_num": "2",
"sync_mode": "primary",
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
'component_container_name': shared_container_name,
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
'component_container_name': component_container_name_arg,
"config_file_path": config_file_335_path,
}.items(),
)
G1_6H = IncludeLaunchDescription(
G1_50 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
),
launch_arguments={
"camera_name": "G1_6H",
"usb_port": "2-3.1",
"camera_name": "G1_50",
"usb_port": "2-1",
"device_num": "2",
"sync_mode": "secondary_synced",
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
'component_container_name': shared_container_name,
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
'component_container_name': component_container_name_arg,
"config_file_path": config_file_335_path,
}.items(),
)
@@ -66,14 +76,13 @@ def generate_launch_description():
# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
ld = LaunchDescription([
use_intra_process_comms_arg,
attach_to_shared_component_container_arg,
shared_container,
GroupAction([G0_6D]),
TimerAction(period=0.5, actions=[GroupAction([G1_6H])]),
use_intra_process_comms_declare,
attach_to_shared_component_container_declare,
component_container_name_declare,
shared_orbbec_container,
G1_50,
TimerAction(period=3.0, actions=[G0_41]),
])
return ld