mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-08 05:47:45 +08:00
add py launch file
This commit is contained in:
Joe Dong
@@ -0,0 +1,93 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace
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from launch.actions import GroupAction
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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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('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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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='640'),
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DeclareLaunchArgument('color_height', default_value='480'),
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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('depth_width', default_value='640'),
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DeclareLaunchArgument('depth_height', default_value='400'),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument('depth_format', default_value='Y14'),
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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='400'),
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DeclareLaunchArgument('ir_fps', default_value='30'),
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DeclareLaunchArgument('ir_format', default_value='Y8'),
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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('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument('color_info_url', default_value=''),
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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_soft_filter', default_value='true'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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]
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# Node configuration
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parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
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# Define the ComposableNode
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compose_node = ComposableNode(
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package='orbbec_camera',
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plugin='orbbec_camera::OBCameraNodeDriver',
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name=LaunchConfiguration('camera_name'),
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namespace='',
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parameters=parameters,
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)
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# Define the ComposableNodeContainer
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container = ComposableNodeContainer(
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name='camera_container',
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namespace='',
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package='rclcpp_components',
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executable='component_container',
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composable_node_descriptions=[
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compose_node,
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],
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output='screen',
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)
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# Launch description
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ld = LaunchDescription(
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args +
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[
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GroupAction([
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PushRosNamespace(LaunchConfiguration('camera_name')),
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container
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])
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]
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)
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return ld
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@@ -0,0 +1,70 @@
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
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from launch.substitutions import LaunchConfiguration
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.substitutions import FindPackageShare
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from launch_ros.actions import Node
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def generate_launch_description():
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# Declare arguments
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camera_name = DeclareLaunchArgument('camera_name', default_value='camera')
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d_sensor = DeclareLaunchArgument('3d_sensor', default_value='gemini2')
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camera1_prefix = DeclareLaunchArgument('camera1_prefix', default_value='01')
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camera2_prefix = DeclareLaunchArgument('camera2_prefix', default_value='02')
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camera1_usb_port = DeclareLaunchArgument('camera1_usb_port', default_value='2-3.3')
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camera2_usb_port = DeclareLaunchArgument('camera2_usb_port', default_value='1-4.4')
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device_num = DeclareLaunchArgument('device_num', default_value='2')
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# Node configuration
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cleanup_node = Node(
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package='orbbec_camera',
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executable='ob_cleanup_shm_node',
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name='camera',
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output='screen'
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)
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# Include launch files
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launch_file_dir = FindPackageShare('orbbec_camera').find('orbbec_camera') + '/launch'
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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')),
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launch_arguments={
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'camera_name': 'camera_' + LaunchConfiguration('camera1_prefix'),
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'usb_port': LaunchConfiguration('camera1_usb_port'),
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'device_num': LaunchConfiguration('device_num')
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}.items()
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)
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')),
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launch_arguments={
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'camera_name': 'camera_' + LaunchConfiguration('camera2_prefix'),
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'usb_port': LaunchConfiguration('camera2_usb_port'),
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'device_num': LaunchConfiguration('device_num')
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}.items()
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)
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# Static TF publisher
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tf_publisher = Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='camera_tf',
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arguments=['0', '0', '0', '0', '0', '0', 'camera01_link', 'camera02_link']
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)
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# Launch description
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ld = LaunchDescription([
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camera_name,
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d_sensor,
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camera1_prefix,
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camera2_prefix,
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camera1_usb_port,
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camera2_usb_port,
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device_num,
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cleanup_node,
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GroupAction([launch1_include]),
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GroupAction([launch2_include]),
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tf_publisher
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])
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return ld
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