Add dw2 launch

2026-09-13 03:30:18 +08:00 · 2024-01-04 15:49:08 +08:00
parent e024af08fb
commit 51e77613f8
1 changed files with 102 additions and 0 deletions
@@ -0,0 +1,102 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import PushRosNamespace
+from launch.actions import GroupAction
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from launch_ros.actions import Node
+import os
+
+
+def generate_launch_description():
+    # Declare arguments
+    args = [
+        DeclareLaunchArgument('camera_name', default_value='camera'),
+        DeclareLaunchArgument('serial_number', default_value=''),
+        DeclareLaunchArgument('usb_port', default_value=''),
+        DeclareLaunchArgument('device_num', default_value='1'),
+        DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
+        DeclareLaunchArgument('product_id', default_value=''),
+        DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_qos', default_value='default'),
+        DeclareLaunchArgument('connection_delay', default_value='100'),
+        DeclareLaunchArgument('depth_width', default_value='640'),
+        DeclareLaunchArgument('depth_height', default_value='480'),
+        DeclareLaunchArgument('depth_fps', default_value='10'),
+        DeclareLaunchArgument('depth_format', default_value='Y11'),
+        DeclareLaunchArgument('enable_depth', default_value='true'),
+        DeclareLaunchArgument('flip_depth', default_value='false'),
+        DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
+        DeclareLaunchArgument('ir_width', default_value='640'),
+        DeclareLaunchArgument('ir_height', default_value='480'),
+        DeclareLaunchArgument('ir_fps', default_value='10'),
+        DeclareLaunchArgument('ir_format', default_value='Y10'),
+        DeclareLaunchArgument('enable_ir', default_value='true'),
+        DeclareLaunchArgument('flip_ir', default_value='false'),
+        DeclareLaunchArgument('ir_qos', default_value='default'),
+        DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
+        DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
+        DeclareLaunchArgument('publish_tf', default_value='true'),
+        DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
+        DeclareLaunchArgument('ir_info_url', default_value=''),
+        DeclareLaunchArgument('color_info_url', default_value=''),
+        DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
+        DeclareLaunchArgument('enable_ldp', default_value='true'),
+        DeclareLaunchArgument('enable_soft_filter', default_value='true'),
+        DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
+        DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
+        DeclareLaunchArgument('ordered_pc', default_value='false'),
+    ]
+
+    # Node configuration
+    parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
+    # get  ROS_DISTRO
+    ros_distro = os.environ["ROS_DISTRO"]
+    if ros_distro == "foxy":
+        return LaunchDescription(
+            args
+            + [
+                Node(
+                    package="orbbec_camera",
+                    executable="orbbec_camera_node",
+                    name="ob_camera_node",
+                    namespace=LaunchConfiguration("camera_name"),
+                    parameters=parameters,
+                    output="screen",
+                )
+            ]
+        )
+    # Define the ComposableNode
+    else:
+        # Define the ComposableNode
+        compose_node = ComposableNode(
+            package="orbbec_camera",
+            plugin="orbbec_camera::OBCameraNodeDriver",
+            name=LaunchConfiguration("camera_name"),
+            namespace="",
+            parameters=parameters,
+        )
+        # Define the ComposableNodeContainer
+        container = ComposableNodeContainer(
+            name="camera_container",
+            namespace="",
+            package="rclcpp_components",
+            executable="component_container",
+            composable_node_descriptions=[
+                compose_node,
+            ],
+            output="screen",
+        )
+        # Launch description
+        ld = LaunchDescription(
+            args
+            + [
+                GroupAction(
+                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
+                )
+            ]
+        )
+        return ld