mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 19:20:20 +08:00
Update gmsl_camera example
This commit is contained in:
jj
@@ -1,13 +1,13 @@
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# GMSL_camera
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> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only G335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.
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> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.
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## Single GMSL camera
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The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py
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ros2 launch orbbec_camera gemini_330_gmsl.launch.py
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```
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## Multi GMSL camera
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@@ -20,12 +20,14 @@ ros2 run orbbec_camera list_devices_node
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For example, the obtained gmsl camera `usb_port`: `gmsl2-1`
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Go to the [multi_camera.launch.py](../../launch/multi_camera.launch.py) file and change the `usb_port`.
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Go to the [multi_gmsl_camera.launch.py](./multi_gmsl_camera.launch.py) file and change the `usb_port`.
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```bash
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ros2 launch orbbec_camera multi_camera.launch.py
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ros2 launch orbbec_camera multi_gmsl_camera.launch.py
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```
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> Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) to modify them.
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## Multi GMSL camera synced
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First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD).
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@@ -35,7 +37,6 @@ In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro
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### Additional Parameter Settings
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* `gmsl_trigger_fps` : set hardware soc trigger source frame rate.
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* `enable_gmsl_trigger` : enable hardware soc trigger.
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### Run the launch
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@@ -45,3 +46,5 @@ Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](multi
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```bash
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ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py
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```
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> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) and [camera_params.yaml](../../config/camera_params.yaml) to modify them.
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@@ -0,0 +1,298 @@
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import os
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import yaml
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
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from launch_ros.descriptions import ComposableNode
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from launch.conditions import UnlessCondition
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from launch_ros.actions import LoadComposableNodes
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def load_yaml(file_path):
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with open(file_path, 'r') as f:
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return yaml.safe_load(f)
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def merge_params(default_params, yaml_params):
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for key, value in yaml_params.items():
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if key in default_params:
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default_params[key] = value
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return default_params
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def convert_value(value):
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if isinstance(value, str):
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try:
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return int(value)
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except ValueError:
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pass
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try:
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return float(value)
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except ValueError:
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pass
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if value.lower() == 'true':
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return True
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elif value.lower() == 'false':
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return False
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return value
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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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config_file_path = LaunchConfiguration('config_file_path').perform(context)
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if 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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skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
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return {
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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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}
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def generate_launch_description():
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args = [
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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('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('preset_firmware_path', default_value=''),
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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('enable_point_cloud', default_value='true'),
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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('connection_delay', default_value='10'),
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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_fps', default_value='0'),
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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('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_priority', default_value='false'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_bottom', 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('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_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('color_brightness', default_value='-1'),
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DeclareLaunchArgument('color_sharpness', default_value='-1'),
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DeclareLaunchArgument('color_gamma', default_value='-1'),
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DeclareLaunchArgument('color_saturation', default_value='-1'),
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DeclareLaunchArgument('color_constrast', default_value='-1'),
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DeclareLaunchArgument('color_hue', default_value='-1'),
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DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
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DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
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DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
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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_fps', default_value='0'),
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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('depth_qos', default_value='default'),
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
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DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
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DeclareLaunchArgument('depth_brightness', default_value='-1'),
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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_fps', default_value='0'),
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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('left_ir_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
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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_fps', default_value='0'),
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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('right_ir_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
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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('ir_ae_max_exposure', 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_accel', default_value='false'),
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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('enable_gyro', default_value='false'),
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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('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 true, 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("exposure_range_mode", default_value="default"),#default, ultimate or regular
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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_hardware_d2d', default_value='true'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('ldp_power_level', default_value='-1'),
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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='true'),
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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('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('enable_decimation_filter', 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_threshold_filter', default_value='false'),
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DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
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DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
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DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
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DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
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DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
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DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
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DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
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DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
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DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
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DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
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DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
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DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
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DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
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DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
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DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
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DeclareLaunchArgument('align_mode', default_value='SW'),
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DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
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DeclareLaunchArgument('enable_laser', default_value='true'),
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument('device_preset', default_value='Default'),
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DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
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DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
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DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
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DeclareLaunchArgument('config_file_path', default_value=''),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
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DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
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DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
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DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
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DeclareLaunchArgument('disparity_offset_config', default_value='false'),
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DeclareLaunchArgument('offset_index0', default_value='-1'),
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DeclareLaunchArgument('offset_index1', 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('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
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DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
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DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
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DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
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DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
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DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
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DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
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DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
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DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
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DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
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DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
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DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
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DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
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DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
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DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
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DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
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DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
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DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
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DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
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DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
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DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
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DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
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DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
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DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
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DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
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DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
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DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
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]
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def get_params(context, args):
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return [load_parameters(context, args)]
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def create_node_action(context, args):
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params = get_params(context, args)
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ros_distro = os.environ.get("ROS_DISTRO", "humble")
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if ros_distro == "foxy":
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return [
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Node(
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package="orbbec_camera",
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executable="orbbec_camera_node",
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name="ob_camera_node",
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namespace=LaunchConfiguration("camera_name"),
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parameters=params,
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output="screen",
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)
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]
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else:
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attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
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component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
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orbbec_container = Node(
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name=component_container_name_arg,
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package='rclcpp_components',
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executable='component_container_mt',
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output='screen',
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condition=UnlessCondition(attach_to_shared_component_container_arg)
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)
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return [
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orbbec_container,
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LoadComposableNodes(
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target_container=component_container_name_arg,
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composable_node_descriptions=[
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ComposableNode(
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||||
namespace=LaunchConfiguration("camera_name"),
|
||||
name=LaunchConfiguration("camera_name"),
|
||||
package='orbbec_camera',
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||||
plugin='orbbec_camera::OBCameraNodeDriver',
|
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parameters=params,
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||||
extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
|
||||
)
|
||||
]
|
||||
)
|
||||
]
|
||||
|
||||
return LaunchDescription(
|
||||
args + [
|
||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
||||
]
|
||||
)
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||||
@@ -0,0 +1,108 @@
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import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node, LoadComposableNodes
|
||||
from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
|
||||
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.substitutions import TextSubstitution
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
|
||||
|
||||
def load_yaml(file_path):
|
||||
with open(file_path, "r") as f:
|
||||
return yaml.safe_load(f)
|
||||
|
||||
|
||||
def merge_params(default_params, yaml_params):
|
||||
for key, value in yaml_params.items():
|
||||
if key in default_params:
|
||||
default_params[key] = value
|
||||
return default_params
|
||||
|
||||
|
||||
def convert_value(value):
|
||||
if isinstance(value, str):
|
||||
try:
|
||||
return int(value)
|
||||
except ValueError:
|
||||
pass
|
||||
try:
|
||||
return float(value)
|
||||
except ValueError:
|
||||
pass
|
||||
if value.lower() == "true":
|
||||
return True
|
||||
elif value.lower() == "false":
|
||||
return False
|
||||
return value
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Include launch files
|
||||
package_dir = get_package_share_directory("orbbec_camera")
|
||||
launch_file_dir = os.path.join(
|
||||
package_dir, "examples/gmsl_camera"
|
||||
)
|
||||
config_file_dir = os.path.join(package_dir, "config")
|
||||
secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
|
||||
|
||||
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=UnlessCondition(attach_to_shared_component_container_arg),
|
||||
)
|
||||
|
||||
attach_to_shared_component_container_arg = TextSubstitution(text="true")
|
||||
|
||||
launch1_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_01",
|
||||
"usb_port": "gmsl2-1",
|
||||
"device_num": "2",
|
||||
"sync_mode": "standalone",
|
||||
"config_file_path": secondary_config_file_path,
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
launch2_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_02",
|
||||
"usb_port": "gmsl2-3",
|
||||
"device_num": "2",
|
||||
"sync_mode": "standalone",
|
||||
"config_file_path": secondary_config_file_path,
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
# Launch description
|
||||
ld = LaunchDescription(
|
||||
[
|
||||
shared_orbbec_container,
|
||||
TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
|
||||
TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
|
||||
]
|
||||
)
|
||||
|
||||
return ld
|
||||
@@ -1,56 +1,109 @@
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.actions import Node, LoadComposableNodes
|
||||
from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
|
||||
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.substitutions import TextSubstitution
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
|
||||
|
||||
def load_yaml(file_path):
|
||||
with open(file_path, "r") as f:
|
||||
return yaml.safe_load(f)
|
||||
|
||||
|
||||
def merge_params(default_params, yaml_params):
|
||||
for key, value in yaml_params.items():
|
||||
if key in default_params:
|
||||
default_params[key] = value
|
||||
return default_params
|
||||
|
||||
|
||||
def convert_value(value):
|
||||
if isinstance(value, str):
|
||||
try:
|
||||
return int(value)
|
||||
except ValueError:
|
||||
pass
|
||||
try:
|
||||
return float(value)
|
||||
except ValueError:
|
||||
pass
|
||||
if value.lower() == "true":
|
||||
return True
|
||||
elif value.lower() == "false":
|
||||
return False
|
||||
return value
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Include launch files
|
||||
package_dir = get_package_share_directory("orbbec_camera")
|
||||
launch_file_dir = os.path.join(package_dir, "launch")
|
||||
launch_file_dir = os.path.join(
|
||||
package_dir, "examples/gmsl_camera"
|
||||
)
|
||||
config_file_dir = os.path.join(package_dir, "config")
|
||||
config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
|
||||
secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
|
||||
|
||||
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=UnlessCondition(attach_to_shared_component_container_arg),
|
||||
)
|
||||
|
||||
attach_to_shared_component_container_arg = TextSubstitution(text="true")
|
||||
|
||||
launch1_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series.launch.py")
|
||||
os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_01",
|
||||
"usb_port": "gmsl2-1",
|
||||
"device_num": "2",
|
||||
"sync_mode": "secondary_synced",
|
||||
"config_file_path": config_file_path,
|
||||
"trigger_out_enabled": "false",
|
||||
"gmsl_trigger_fps": "3000",
|
||||
"enable_gmsl_trigger": "true",
|
||||
"config_file_path": secondary_config_file_path,
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
launch2_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series.launch.py")
|
||||
os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "camera_02",
|
||||
"usb_port": "gmsl2-3",
|
||||
"device_num": "2",
|
||||
"sync_mode": "secondary_synced",
|
||||
"config_file_path": config_file_path,
|
||||
"trigger_out_enabled": "false",
|
||||
"enable_gmsl_trigger": "false",
|
||||
"config_file_path": secondary_config_file_path,
|
||||
"attach_to_shared_component_container": attach_to_shared_component_container_arg,
|
||||
"component_container_name": component_container_name_arg,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
|
||||
# Launch description
|
||||
ld = LaunchDescription(
|
||||
[
|
||||
# The sending the gmsl_trigger signal gsml camera should be launched at lfirst
|
||||
TimerAction(period=0.0, actions=[GroupAction([launch1_include])]),
|
||||
TimerAction(period=2.0, actions=[GroupAction([launch2_include])]),
|
||||
shared_orbbec_container,
|
||||
TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
|
||||
TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
|
||||
]
|
||||
)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user