mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 03:57:46 +08:00
Update orbbec_camera package to be compatible with cuvslam
This commit is contained in:
jj
@@ -17,7 +17,7 @@ def generate_launch_description():
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
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DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
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DeclareLaunchArgument('product_id', default_value=''),
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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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@@ -33,10 +33,8 @@ def generate_launch_description():
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_ae_max_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_brightness', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='800'),
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@@ -56,11 +54,8 @@ def generate_launch_description():
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DeclareLaunchArgument('ir_qos', default_value='default'),
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DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_ae_max_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_brightness', default_value='-1'),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
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DeclareLaunchArgument('enable_accel', default_value='false'),
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DeclareLaunchArgument('accel_rate', default_value='100hz'),
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DeclareLaunchArgument('accel_range', default_value='4g'),
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@@ -75,7 +70,6 @@ def generate_launch_description():
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DeclareLaunchArgument('color_info_url', default_value=''),
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_frame_sync', default_value='true'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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@@ -86,7 +80,7 @@ def generate_launch_description():
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DeclareLaunchArgument('align_mode', default_value='HW'),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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DeclareLaunchArgument('time_domain', default_value='global'),
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DeclareLaunchArgument('time_domain', default_value='device'),
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]
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# Node configuration
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@@ -17,6 +17,7 @@ def generate_launch_description():
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
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DeclareLaunchArgument('product_id', default_value=''),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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@@ -34,9 +35,7 @@ def generate_launch_description():
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument('color_brightness', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='640'),
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DeclareLaunchArgument('depth_height', default_value='480'),
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@@ -17,7 +17,7 @@ def generate_launch_description():
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
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DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
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DeclareLaunchArgument('product_id', default_value=''),
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DeclareLaunchArgument('enable_point_cloud', default_value='false'),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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@@ -33,10 +33,8 @@ def generate_launch_description():
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_ae_max_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_brightness', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='640'),
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@@ -56,10 +54,8 @@ def generate_launch_description():
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DeclareLaunchArgument('ir_qos', default_value='default'),
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DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_ae_max_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_brightness', default_value='-1'),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
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DeclareLaunchArgument('enable_accel', default_value='false'),
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DeclareLaunchArgument('accel_rate', default_value='200hz'),
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@@ -92,7 +88,7 @@ def generate_launch_description():
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DeclareLaunchArgument('align_mode', default_value='SW'),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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DeclareLaunchArgument('time_domain', default_value='global'),
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DeclareLaunchArgument('time_domain', default_value='device'),
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]
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# Node configuration
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@@ -12,93 +12,89 @@ import os
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def generate_launch_description():
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# Declare arguments
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args = [
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DeclareLaunchArgument("camera_name", default_value="camera"),
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DeclareLaunchArgument("depth_registration", default_value="false"),
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DeclareLaunchArgument("serial_number", default_value=""),
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DeclareLaunchArgument("usb_port", default_value=""),
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DeclareLaunchArgument("device_num", default_value="1"),
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DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
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DeclareLaunchArgument("product_id", default_value=""),
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DeclareLaunchArgument("enable_point_cloud", default_value="true"),
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DeclareLaunchArgument("cloud_frame_id", default_value=""),
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DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
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DeclareLaunchArgument("point_cloud_qos", default_value="default"),
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DeclareLaunchArgument("connection_delay", default_value="100"),
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DeclareLaunchArgument("color_width", default_value="1280"),
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DeclareLaunchArgument("color_height", default_value="720"),
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DeclareLaunchArgument("color_fps", default_value="30"),
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DeclareLaunchArgument("color_format", default_value="MJPG"),
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DeclareLaunchArgument("enable_color", default_value="true"),
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DeclareLaunchArgument("flip_color", default_value="false"),
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DeclareLaunchArgument("color_qos", default_value="default"),
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DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
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DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
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DeclareLaunchArgument("color_ae_max_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_brightness", default_value="-1"),
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DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
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DeclareLaunchArgument("color_white_balance", default_value="-1"),
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DeclareLaunchArgument("depth_width", default_value="640"),
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DeclareLaunchArgument("depth_height", default_value="576"),
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DeclareLaunchArgument("depth_fps", default_value="30"),
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DeclareLaunchArgument("depth_format", default_value="Y16"),
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DeclareLaunchArgument("enable_depth", default_value="true"),
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DeclareLaunchArgument("flip_depth", default_value="false"),
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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("ir_width", default_value="640"),
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DeclareLaunchArgument("ir_height", default_value="576"),
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DeclareLaunchArgument("ir_fps", default_value="30"),
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DeclareLaunchArgument("ir_format", default_value="Y16"),
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DeclareLaunchArgument("enable_ir", default_value="true"),
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DeclareLaunchArgument("flip_ir", default_value="false"),
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DeclareLaunchArgument("ir_qos", default_value="default"),
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DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
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DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
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DeclareLaunchArgument("ir_ae_max_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_brightness", default_value="-1"),
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DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="true"),
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DeclareLaunchArgument("enable_accel", default_value="false"),
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DeclareLaunchArgument("accel_rate", default_value="100hz"),
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DeclareLaunchArgument("accel_range", default_value="4g"),
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DeclareLaunchArgument("enable_gyro", default_value="false"),
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DeclareLaunchArgument("gyro_rate", default_value="100hz"),
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DeclareLaunchArgument("gyro_range", default_value="1000dps"),
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DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
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DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
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DeclareLaunchArgument("publish_tf", default_value="true"),
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DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
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DeclareLaunchArgument("ir_info_url", default_value=""),
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DeclareLaunchArgument("color_info_url", default_value=""),
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# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
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# If you do not want to automatically enumerate network devices,
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# you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
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DeclareLaunchArgument("enumerate_net_device", default_value="false"),
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DeclareLaunchArgument("net_device_ip", default_value=""),
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DeclareLaunchArgument("net_device_port", default_value="0"),
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DeclareLaunchArgument("log_level", default_value="none"),
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DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
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DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
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DeclareLaunchArgument("enable_ldp", default_value="true"),
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DeclareLaunchArgument("enable_soft_filter", default_value="true"),
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DeclareLaunchArgument("soft_filter_max_diff", default_value="-1"),
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DeclareLaunchArgument("soft_filter_speckle_size", default_value="-1"),
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DeclareLaunchArgument("sync_mode", default_value="standalone"),
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DeclareLaunchArgument("depth_delay_us", default_value="0"),
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DeclareLaunchArgument("color_delay_us", default_value="0"),
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DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
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DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
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DeclareLaunchArgument("trigger_out_enabled", default_value="false"),
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DeclareLaunchArgument("enable_frame_sync", default_value="true"),
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DeclareLaunchArgument("ordered_pc", default_value="false"),
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DeclareLaunchArgument("enable_depth_scale", default_value="true"),
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DeclareLaunchArgument("align_mode", default_value="HW"),
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DeclareLaunchArgument("laser_energy_level", default_value="-1"),
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DeclareLaunchArgument("enable_heartbeat", default_value="false"),
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DeclareLaunchArgument("time_domain", default_value="global"),
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='false'),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
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DeclareLaunchArgument('product_id', default_value=''),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument('connection_delay', default_value='100'),
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DeclareLaunchArgument('color_width', default_value='1280'),
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DeclareLaunchArgument('color_height', default_value='720'),
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DeclareLaunchArgument('color_fps', default_value='30'),
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DeclareLaunchArgument('color_format', default_value='MJPG'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument('flip_color', default_value='false'),
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='640'),
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DeclareLaunchArgument('depth_height', default_value='576'),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument('depth_format', default_value='Y16'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('flip_depth', default_value='false'),
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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('ir_width', default_value='640'),
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DeclareLaunchArgument('ir_height', default_value='576'),
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DeclareLaunchArgument('ir_fps', default_value='30'),
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DeclareLaunchArgument('ir_format', default_value='Y16'),
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DeclareLaunchArgument('enable_ir', default_value='true'),
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DeclareLaunchArgument('flip_ir', default_value='false'),
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DeclareLaunchArgument('ir_qos', default_value='default'),
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DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
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DeclareLaunchArgument('enable_accel', default_value='false'),
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DeclareLaunchArgument('accel_rate', default_value='100hz'),
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DeclareLaunchArgument('accel_range', default_value='4g'),
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DeclareLaunchArgument('enable_gyro', default_value='false'),
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DeclareLaunchArgument('gyro_rate', default_value='100hz'),
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DeclareLaunchArgument('gyro_range', default_value='1000dps'),
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DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
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DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument('color_info_url', default_value=''),
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# Network device settings: default net_device_ip is 192.168.1.10 and net_device_port is 8090
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# If you don't want to use ip addr and port, set enumerate_net_device to true
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# and leave net_device_ip blank , it can enumerate automate
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DeclareLaunchArgument('enumerate_net_device', default_value='false'),
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DeclareLaunchArgument('net_device_ip', default_value=''),
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DeclareLaunchArgument('net_device_port', default_value='0'),
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DeclareLaunchArgument('log_level', default_value='none'),
|
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
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DeclareLaunchArgument('enable_ldp', default_value='true'),
|
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
|
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DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
|
||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
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DeclareLaunchArgument('color_delay_us', default_value='0'),
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||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
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||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
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DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
|
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DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
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DeclareLaunchArgument('ordered_pc', default_value='false'),
|
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DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
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DeclareLaunchArgument('align_mode', default_value='HW'),
|
||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
||||
DeclareLaunchArgument('time_domain', default_value='device'),
|
||||
]
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# Node configuration
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@@ -149,4 +145,4 @@ def generate_launch_description():
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)
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]
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)
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return ld
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return ld
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@@ -17,49 +17,45 @@ def generate_launch_description():
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
|
||||
DeclareLaunchArgument('device_num', default_value='1'),
|
||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
|
||||
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
|
||||
DeclareLaunchArgument('product_id', default_value=''),
|
||||
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
||||
DeclareLaunchArgument('connection_delay', default_value='100'),
|
||||
DeclareLaunchArgument('color_width', default_value='0'),
|
||||
DeclareLaunchArgument('color_height', default_value='0'),
|
||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
||||
DeclareLaunchArgument('color_format', default_value='ANY'),
|
||||
DeclareLaunchArgument('color_width', default_value='640'),
|
||||
DeclareLaunchArgument('color_height', default_value='360'),
|
||||
DeclareLaunchArgument('color_fps', default_value='15'),
|
||||
DeclareLaunchArgument('color_format', default_value='MJPG'),
|
||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
||||
DeclareLaunchArgument('flip_color', default_value='false'),
|
||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
||||
DeclareLaunchArgument('depth_format', default_value='ANY'),
|
||||
DeclareLaunchArgument('depth_width', default_value='640'),
|
||||
DeclareLaunchArgument('depth_height', default_value='400'),
|
||||
DeclareLaunchArgument('depth_fps', default_value='15'),
|
||||
DeclareLaunchArgument('depth_format', default_value='Y14'),
|
||||
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='0'),
|
||||
DeclareLaunchArgument('ir_height', default_value='0'),
|
||||
DeclareLaunchArgument('ir_fps', default_value='0'),
|
||||
DeclareLaunchArgument('ir_format', default_value='ANY'),
|
||||
DeclareLaunchArgument('ir_width', default_value='640'),
|
||||
DeclareLaunchArgument('ir_height', default_value='400'),
|
||||
DeclareLaunchArgument('ir_fps', default_value='15'),
|
||||
DeclareLaunchArgument('ir_format', default_value='Y8'),
|
||||
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('ir_ae_max_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
|
||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
||||
DeclareLaunchArgument('accel_rate', default_value='100hz'),
|
||||
@@ -77,8 +73,6 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
||||
# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
|
||||
DeclareLaunchArgument('depth_filter_config', default_value=''),
|
||||
# Depth work mode support is as follows:
|
||||
@@ -100,7 +94,7 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
||||
DeclareLaunchArgument('time_domain', default_value='global'),
|
||||
DeclareLaunchArgument('time_domain', default_value='device'),
|
||||
]
|
||||
|
||||
# Node configuration
|
||||
|
||||
@@ -17,7 +17,7 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('serial_number', default_value=''),
|
||||
DeclareLaunchArgument('usb_port', default_value=''),
|
||||
DeclareLaunchArgument('device_num', default_value='1'),
|
||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
|
||||
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
|
||||
DeclareLaunchArgument('product_id', default_value=''),
|
||||
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
||||
@@ -33,12 +33,10 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_width', default_value='1280'),
|
||||
DeclareLaunchArgument('depth_height', default_value='800'),
|
||||
DeclareLaunchArgument('depth_fps', default_value='30'),
|
||||
@@ -56,10 +54,8 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('ir_qos', default_value='default'),
|
||||
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_gain', 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('accel_rate', default_value='100hz'),
|
||||
@@ -78,10 +74,8 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
||||
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
||||
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
|
||||
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
|
||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
||||
# Depth work mode support is as follows:
|
||||
# Unbinned Dense Default
|
||||
# Unbinned Sparse Default
|
||||
@@ -101,7 +95,7 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('time_domain', default_value='global'),
|
||||
DeclareLaunchArgument('time_domain', default_value='device'),
|
||||
]
|
||||
|
||||
# Node configuration
|
||||
|
||||
@@ -161,6 +161,7 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
|
||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
||||
DeclareLaunchArgument('time_domain', default_value='device'),
|
||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
||||
|
||||
@@ -16,7 +16,7 @@ def generate_launch_description():
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_name': 'camera_01',
|
||||
'usb_port': '2-1',
|
||||
'usb_port': 'gmsl2-1',
|
||||
'device_num': '2',
|
||||
'sync_mode': 'standalone',
|
||||
'enable_left_ir': 'true',
|
||||
@@ -24,13 +24,27 @@ def generate_launch_description():
|
||||
}.items()
|
||||
)
|
||||
|
||||
launch2_include = IncludeLaunchDescription(
|
||||
# launch2_include = IncludeLaunchDescription(
|
||||
# PythonLaunchDescriptionSource(
|
||||
# os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
|
||||
# ),
|
||||
# launch_arguments={
|
||||
# 'camera_name': 'camera_02',
|
||||
# 'usb_port': 'gmsl2-2',
|
||||
# 'device_num': '3',
|
||||
# 'sync_mode': 'standalone',
|
||||
# 'enable_left_ir': 'false',
|
||||
# 'enable_right_ir': 'false',
|
||||
# }.items()
|
||||
# )
|
||||
|
||||
launch3_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_name': 'camera_02',
|
||||
'usb_port': '2-3',
|
||||
'camera_name': 'camera_03',
|
||||
'usb_port': 'gmsl2-3',
|
||||
'device_num': '2',
|
||||
'sync_mode': 'standalone',
|
||||
'enable_left_ir': 'true',
|
||||
@@ -43,7 +57,8 @@ def generate_launch_description():
|
||||
# Launch description
|
||||
ld = LaunchDescription([
|
||||
GroupAction([launch1_include]),
|
||||
GroupAction([launch2_include]),
|
||||
# GroupAction([launch2_include]),
|
||||
GroupAction([launch3_include]),
|
||||
])
|
||||
|
||||
return ld
|
||||
|
||||
@@ -0,0 +1,104 @@
|
||||
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
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Declare arguments
|
||||
args = [
|
||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
||||
DeclareLaunchArgument('depth_registration', default_value='false'),
|
||||
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('enable_colored_point_cloud', default_value='false'),
|
||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
||||
DeclareLaunchArgument('connection_delay', default_value='100'),
|
||||
DeclareLaunchArgument('color_width', default_value='640'),
|
||||
DeclareLaunchArgument('color_height', default_value='480'),
|
||||
DeclareLaunchArgument('color_fps', default_value='30'),
|
||||
DeclareLaunchArgument('color_format', default_value='MJPG'),
|
||||
DeclareLaunchArgument('enable_color', default_value='true'),
|
||||
DeclareLaunchArgument('flip_color', default_value='false'),
|
||||
DeclareLaunchArgument('color_qos', default_value='default'),
|
||||
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
||||
DeclareLaunchArgument('depth_width', default_value='640'),
|
||||
DeclareLaunchArgument('depth_height', default_value='400'),
|
||||
DeclareLaunchArgument('depth_fps', default_value='30'),
|
||||
DeclareLaunchArgument('depth_format', default_value='Y14'),
|
||||
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='400'),
|
||||
DeclareLaunchArgument('ir_fps', default_value='30'),
|
||||
DeclareLaunchArgument('ir_format', default_value='Y8'),
|
||||
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('enable_accel', default_value='false'),
|
||||
DeclareLaunchArgument('accel_rate', default_value='100hz'),
|
||||
DeclareLaunchArgument('accel_range', default_value='4g'),
|
||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
||||
DeclareLaunchArgument('gyro_rate', default_value='100hz'),
|
||||
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=''),
|
||||
DeclareLaunchArgument('log_level', default_value='none'),
|
||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
||||
DeclareLaunchArgument('enable_d2c_viewer', 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('time_domain', default_value='device'),
|
||||
]
|
||||
|
||||
# Node configuration
|
||||
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
|
||||
# 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
|
||||
@@ -32,7 +32,6 @@ def generate_launch_arguments():
|
||||
DeclareLaunchArgument('usb_port', default_value=''),
|
||||
DeclareLaunchArgument('device_num', default_value='1'),
|
||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
||||
#instra-process demo set
|
||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
|
||||
DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
|
||||
|
||||
@@ -1,86 +1,112 @@
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
import yaml
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
|
||||
from launch.actions import IncludeLaunchDescription, TimerAction
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.conditions import IfCondition
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction
|
||||
import sys
|
||||
sys.path.append(os.path.dirname(os.path.realpath(__file__)))
|
||||
from utils_yaml import *
|
||||
|
||||
|
||||
default_package_name = 'orbbec_camera'
|
||||
default_launch_file = 'orbbec_camera.launch.py'
|
||||
default_multi_camera_config_file = 'multicamera.yaml' #'multi_camera_synced.ymal'
|
||||
default_shared_container_name = 'shared_orbbec_container'
|
||||
|
||||
|
||||
def generate_launch_arguments():
|
||||
launch_arguments = [
|
||||
#general config
|
||||
DeclareLaunchArgument('config_file_path', default_value=default_multi_camera_config_file),
|
||||
#instra-process demo set
|
||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'), #false
|
||||
DeclareLaunchArgument('attach_component_container_enable', default_value='false'), #false
|
||||
DeclareLaunchArgument('attach_component_container_name', default_value=default_shared_container_name),
|
||||
]
|
||||
return launch_arguments
|
||||
|
||||
|
||||
def generate_camera_node(args, launch_file_dir, camera_params, launch_file=default_launch_file):
|
||||
config_params = {key: value for key, value in camera_params.items()}
|
||||
#load launch_arguments and meger to yaml params
|
||||
args_params = {arg.name: arg.default_value for arg in args}
|
||||
#print_params(args_params)
|
||||
default_params = update_params(args_params, config_params)
|
||||
#print_params(default_params)
|
||||
return IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, launch_file)
|
||||
),
|
||||
launch_arguments=default_params.items()
|
||||
)
|
||||
|
||||
|
||||
def load_yaml_params(config_file_path):
|
||||
config_yaml_path = config_file_path or os.path.join(get_package_share_directory(default_package_name), 'config', config_file_path)
|
||||
config_yaml_path = get_absolute_path(config_yaml_path, package_name=default_package_name)
|
||||
print(f"load convert Absolute config_yaml_path: {config_yaml_path}")
|
||||
return load_yaml(config_yaml_path)
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Include launch files
|
||||
package_dir = get_package_share_directory('orbbec_camera')
|
||||
launch_file_dir = os.path.join(package_dir, 'launch')
|
||||
args=generate_launch_arguments()
|
||||
package_dir = get_package_share_directory(default_package_name)
|
||||
launch_file_dir = os.path.join(package_dir, "launch")
|
||||
|
||||
G330_0 = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_model': 'gemini330_series',
|
||||
'attach_component_container_enable': 'true',
|
||||
'camera_name': 'G330_0',
|
||||
'usb_port': '2-1',
|
||||
'device_num': '4',
|
||||
# 'sync_mode': 'primary',
|
||||
}.items()
|
||||
)
|
||||
|
||||
G330_1 = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_model': 'gemini330_series',
|
||||
'attach_component_container_enable': 'false',
|
||||
'camera_name': 'G330_1',
|
||||
'usb_port': '2-4',
|
||||
'device_num': '4',
|
||||
# 'sync_mode': 'secondary_synced',
|
||||
# 'trigger_out_enabled': 'false',
|
||||
}.items()
|
||||
)
|
||||
def create_share_container(attach_component_container_name, attach_enable_condition):
|
||||
shared_container = Node(
|
||||
name=attach_component_container_name,
|
||||
package='rclcpp_components',
|
||||
executable='component_container_mt',
|
||||
output='screen',
|
||||
condition=IfCondition(attach_enable_condition)
|
||||
)
|
||||
return shared_container
|
||||
|
||||
G330_2 = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_model': 'gemini330_series',
|
||||
'attach_component_container_enable': 'true',
|
||||
'camera_name': 'G330_2',
|
||||
'usb_port': '2-7',
|
||||
'device_num': '4',
|
||||
# 'sync_mode': 'secondary_synced',
|
||||
# 'trigger_out_enabled': 'false',
|
||||
}.items()
|
||||
)
|
||||
|
||||
G330_3 = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_model': 'gemini330_series',
|
||||
'attach_component_container_enable': 'true',
|
||||
'camera_name': 'G330_3',
|
||||
'usb_port': '2-3',
|
||||
'device_num': '4',
|
||||
# 'sync_mode': 'secondary_synced',
|
||||
# 'trigger_out_enabled': 'false',
|
||||
}.items()
|
||||
)
|
||||
def create_node_action(context, args):
|
||||
attach_enable_condition = LaunchConfiguration("attach_component_container_enable", default=False).perform(context)
|
||||
attach_component_container_name = LaunchConfiguration("attach_component_container_name", default=default_shared_container_name).perform(context)
|
||||
use_intra_process_comms = LaunchConfiguration("use_intra_process_comms", default=False).perform(context)
|
||||
print(f"attach_enable_condition: {attach_enable_condition}", f"attach_component_container_name: {attach_component_container_name}")
|
||||
print(f"use_intra_process_comms: {use_intra_process_comms}")
|
||||
shared_container_node = create_share_container(attach_component_container_name, attach_enable_condition)
|
||||
|
||||
# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
|
||||
config_file_path = LaunchConfiguration("config_file_path", default=default_multi_camera_config_file).perform(context)
|
||||
print(f"config_file_path: {config_file_path}")
|
||||
#camera_config_file = os.path.join(package_dir, "config", config_file_path)
|
||||
config_params = load_yaml_params(config_file_path)
|
||||
if not config_params:
|
||||
raise Exception("Failed to load multi-camera configuration.")
|
||||
|
||||
# Launch description
|
||||
ld = LaunchDescription(
|
||||
[
|
||||
TimerAction(period=0.0, actions=[GroupAction([G330_1])]),
|
||||
TimerAction(period=2.0, actions=[GroupAction([G330_2])]),
|
||||
TimerAction(period=4.0, actions=[GroupAction([G330_3])]),
|
||||
TimerAction(period=6.0, actions=[GroupAction([G330_0])]),
|
||||
# The primary camera should be launched at last
|
||||
camera_params = config_params['orbbec_ros']['multi_camera_parameters']
|
||||
camera_actions = []
|
||||
for camera_key in camera_params:
|
||||
if camera_key.startswith('launch_device_camera'):
|
||||
camera_config = camera_params[camera_key]
|
||||
#print_params(camera_config)
|
||||
period_value = float(camera_config.pop('period', '0.0'))
|
||||
print(f"period_value: {period_value}", f"camera_config: {camera_config}")
|
||||
|
||||
camera_node = generate_camera_node(args, launch_file_dir, camera_config)
|
||||
camera_action = TimerAction(period=period_value, actions=[camera_node])
|
||||
camera_actions.append(camera_action)
|
||||
|
||||
nodes = [
|
||||
shared_container_node,
|
||||
*camera_actions,
|
||||
]
|
||||
return nodes
|
||||
|
||||
return LaunchDescription(
|
||||
args + [
|
||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
||||
]
|
||||
)
|
||||
|
||||
return ld
|
||||
)
|
||||
Reference in New Issue
Block a user