add py launch file

orbbec_camera/launch/gemini2.launch.py

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+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('publish_tf', default_value='true'),
+        DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
+        DeclareLaunchArgument('ir_info_url', default_value=''),
+        DeclareLaunchArgument('color_info_url', default_value=''),
+        DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
+        DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
+        DeclareLaunchArgument('enable_soft_filter', default_value='true'),
+        DeclareLaunchArgument('enable_ldp', default_value='true'),
+    ]
+
+    # 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

orbbec_camera/launch/multi_camera.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Declare arguments
+    camera_name = DeclareLaunchArgument('camera_name', default_value='camera')
+    d_sensor = DeclareLaunchArgument('3d_sensor', default_value='gemini2')
+    camera1_prefix = DeclareLaunchArgument('camera1_prefix', default_value='01')
+    camera2_prefix = DeclareLaunchArgument('camera2_prefix', default_value='02')
+    camera1_usb_port = DeclareLaunchArgument('camera1_usb_port', default_value='2-3.3')
+    camera2_usb_port = DeclareLaunchArgument('camera2_usb_port', default_value='1-4.4')
+    device_num = DeclareLaunchArgument('device_num', default_value='2')
+
+    # Node configuration
+    cleanup_node = Node(
+        package='orbbec_camera',
+        executable='ob_cleanup_shm_node',
+        name='camera',
+        output='screen'
+    )
+
+    # Include launch files
+    launch_file_dir = FindPackageShare('orbbec_camera').find('orbbec_camera') + '/launch'
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')),
+        launch_arguments={
+            'camera_name': 'camera_' + LaunchConfiguration('camera1_prefix'),
+            'usb_port': LaunchConfiguration('camera1_usb_port'),
+            'device_num': LaunchConfiguration('device_num')
+        }.items()
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')),
+        launch_arguments={
+            'camera_name': 'camera_' + LaunchConfiguration('camera2_prefix'),
+            'usb_port': LaunchConfiguration('camera2_usb_port'),
+            'device_num': LaunchConfiguration('device_num')
+        }.items()
+    )
+
+    # Static TF publisher
+    tf_publisher = Node(
+        package='tf2_ros',
+        executable='static_transform_publisher',
+        name='camera_tf',
+        arguments=['0', '0', '0', '0', '0', '0', 'camera01_link', 'camera02_link']
+    )
+
+    # Launch description
+    ld = LaunchDescription([
+        camera_name,
+        d_sensor,
+        camera1_prefix,
+        camera2_prefix,
+        camera1_usb_port,
+        camera2_usb_port,
+        device_num,
+        cleanup_node,
+        GroupAction([launch1_include]),
+        GroupAction([launch2_include]),
+        tf_publisher
+    ])
+
+    return ld