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feat: add bag record and playback launch arguments

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This commit is contained in:
slz
2026-06-16 17:37:30 +08:00
parent d801d5670b
commit 7af4470b28
20 changed files with 68 additions and 12 deletions
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orbbec_camera/launch/astra.launch.py
+3
View File
@@ -17,6 +17,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
orbbec_camera/launch/astra2.launch.py
+3
View File
@@ -17,6 +17,9 @@ def generate_launch_description():
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("bag_record_filename", default_value=""),
DeclareLaunchArgument("bag_filename", default_value=""),
DeclareLaunchArgument("bag_loop", default_value="false"),
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
orbbec_camera/launch/dabai_a.launch.py
+4 -1
View File
@@ -42,7 +42,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
result = {}
for key, value in default_params.items():
@@ -74,6 +74,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
orbbec_camera/launch/dabai_al.launch.py
+4 -1
View File
@@ -42,7 +42,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
result = {}
for key, value in default_params.items():
@@ -74,6 +74,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
orbbec_camera/launch/dabai_dcw2.launch.py
+3
View File
@@ -17,6 +17,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
orbbec_camera/launch/dabai_max_pro.launch.py
+3
View File
@@ -17,6 +17,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
orbbec_camera/launch/femto.launch.py
+3
View File
@@ -17,6 +17,9 @@ def generate_launch_description():
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("bag_record_filename", default_value=""),
DeclareLaunchArgument("bag_filename", default_value=""),
DeclareLaunchArgument("bag_loop", default_value="false"),
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
DeclareLaunchArgument("cloud_frame_id", default_value=""),
orbbec_camera/launch/femto_bolt.launch.py
+3
View File
@@ -17,6 +17,9 @@ def generate_launch_description():
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("bag_record_filename", default_value=""),
DeclareLaunchArgument("bag_filename", default_value=""),
DeclareLaunchArgument("bag_loop", default_value="false"),
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="false"),
orbbec_camera/launch/femto_mega.launch.py
+3
View File
@@ -17,6 +17,9 @@ def generate_launch_description():
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("bag_record_filename", default_value=""),
DeclareLaunchArgument("bag_filename", default_value=""),
DeclareLaunchArgument("bag_loop", default_value="false"),
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
orbbec_camera/launch/gemini2.launch.py
+3
View File
@@ -17,6 +17,9 @@ def generate_launch_description():
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("bag_record_filename", default_value=""),
DeclareLaunchArgument("bag_filename", default_value=""),
DeclareLaunchArgument("bag_loop", default_value="false"),
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
orbbec_camera/launch/gemini210.launch.py
+3
View File
@@ -17,6 +17,9 @@ def generate_launch_description():
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("bag_record_filename", default_value=""),
DeclareLaunchArgument("bag_filename", default_value=""),
DeclareLaunchArgument("bag_loop", default_value="false"),
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
orbbec_camera/launch/gemini2L.launch.py
+4 -1
View File
@@ -64,7 +64,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {"config_file_path", "usb_port", "serial_number"}
skip_convert = {"config_file_path", "usb_port", "serial_number", 'bag_record_filename', 'bag_filename'}
return {
key: (value if key in skip_convert else convert_value(value))
@@ -79,6 +79,9 @@ def generate_launch_description():
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("bag_record_filename", default_value=""),
DeclareLaunchArgument("bag_filename", default_value=""),
DeclareLaunchArgument("bag_loop", default_value="false"),
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
orbbec_camera/launch/gemini345.launch.py
+4 -1
View File
@@ -42,7 +42,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
result = {}
for key, value in default_params.items():
@@ -73,6 +73,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
orbbec_camera/launch/gemini345_lg.launch.py
+4 -1
View File
@@ -42,7 +42,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
result = {}
for key, value in default_params.items():
@@ -74,6 +74,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
orbbec_camera/launch/gemini435_le.launch.py
+4 -1
View File
@@ -42,7 +42,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
result = {}
for key, value in default_params.items():
@@ -74,6 +74,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
orbbec_camera/launch/gemini_301_series.launch.py
+4 -1
View File
@@ -64,7 +64,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
result = {}
for key, value in default_params.items():
@@ -97,6 +97,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
orbbec_camera/launch/gemini_330_series.launch.py
+1 -2
View File
@@ -42,7 +42,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
result = {}
for key, value in default_params.items():
@@ -77,7 +77,6 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
# Bag recording: record the live stream to an Orbbec .bag file
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_record_compression', default_value='true'),
# Bag playback: load a previously recorded .bag file as a virtual device
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+4 -1
View File
@@ -42,7 +42,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
result = {}
for key, value in default_params.items():
@@ -75,6 +75,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
orbbec_camera/launch/gemini_330_series_sdk_json.launch.py
+4 -1
View File
@@ -41,7 +41,7 @@ def load_parameters(context, args):
config_file_path = LaunchConfiguration('config_file_path').perform(context)
if config_file_path:
default_params = merge_params(default_params, load_yaml(config_file_path))
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
result = {}
for key, value in default_params.items():
@@ -72,6 +72,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument('preset_firmware_path', default_value=''),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+4 -1
View File
@@ -42,7 +42,7 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
@@ -56,6 +56,9 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('bag_record_filename', default_value=''),
DeclareLaunchArgument('bag_filename', default_value=''),
DeclareLaunchArgument('bag_loop', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),