From 7d517ead745b1d0988df573eae3c18d86580b9e2 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Thu, 20 Nov 2025 10:11:53 +0800 Subject: [PATCH] fix: update comments for clarity in multi_gmsl_camera.launch.py --- .../gmsl_camera/gemini345_lg.launch.py | 264 ------------------ .../gmsl_camera/multi_gmsl_camera.launch.py | 6 +- 2 files changed, 3 insertions(+), 267 deletions(-) delete mode 100644 orbbec_camera/examples/gmsl_camera/gemini345_lg.launch.py diff --git a/orbbec_camera/examples/gmsl_camera/gemini345_lg.launch.py b/orbbec_camera/examples/gmsl_camera/gemini345_lg.launch.py deleted file mode 100644 index 8400dbf9..00000000 --- a/orbbec_camera/examples/gmsl_camera/gemini345_lg.launch.py +++ /dev/null @@ -1,264 +0,0 @@ -import os -import yaml -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node -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 load_parameters(context, args): - default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args} - config_file_path = LaunchConfiguration('config_file_path').perform(context) - 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'} - - result = {} - for key, value in default_params.items(): - if key in skip_convert: - result[key] = value - elif 'enable_pub_plugins' in key: - if isinstance(value, str): - if value.startswith('[') and value.endswith(']'): - try: - result[key] = yaml.safe_load(value) - except: - result[key] = [value] - else: - result[key] = [value] - elif isinstance(value, list): - result[key] = value - else: - result[key] = [str(value)] - else: - result[key] = convert_value(value) - - return result - - -def generate_launch_description(): - args = [ - DeclareLaunchArgument('camera_name', default_value='camera'), - DeclareLaunchArgument('depth_registration', default_value='true'), - DeclareLaunchArgument('serial_number', default_value=''), - DeclareLaunchArgument('usb_port', default_value=''), - DeclareLaunchArgument('device_num', default_value='1'), - DeclareLaunchArgument('upgrade_firmware', default_value=''), - DeclareLaunchArgument('load_config_json_file_path', default_value=''), - DeclareLaunchArgument('export_config_json_file_path', default_value=''), - DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2 - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('enable_point_cloud', default_value='true'), - DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), - DeclareLaunchArgument('cloud_frame_id', default_value=''), - DeclareLaunchArgument('connection_delay', default_value='10'), - 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('enable_color', default_value='true'), - DeclareLaunchArgument('color_qos', default_value='default'), - DeclareLaunchArgument('color_camera_info_qos', default_value='default'), - DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'), - DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), - 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_ae_max_exposure', default_value='-1'), - DeclareLaunchArgument('color_brightness', default_value='-1'), - DeclareLaunchArgument('color_sharpness', default_value='-1'), - DeclareLaunchArgument('color_gamma', default_value='-1'), - DeclareLaunchArgument('color_saturation', default_value='-1'), - DeclareLaunchArgument('color_contrast', default_value='-1'), - DeclareLaunchArgument('color_hue', default_value='-1'), - DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3 - DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto - 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('enable_depth', default_value='true'), - DeclareLaunchArgument('depth_qos', default_value='default'), - DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), - DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'), - DeclareLaunchArgument('depth_precision', default_value=''), - DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'), - DeclareLaunchArgument('left_ir_width', default_value='0'), - DeclareLaunchArgument('left_ir_height', default_value='0'), - DeclareLaunchArgument('left_ir_fps', default_value='0'), - DeclareLaunchArgument('left_ir_format', default_value='ANY'), - DeclareLaunchArgument('enable_left_ir', default_value='false'), - DeclareLaunchArgument('left_ir_qos', default_value='default'), - DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), - DeclareLaunchArgument('right_ir_width', default_value='0'), - DeclareLaunchArgument('right_ir_height', default_value='0'), - DeclareLaunchArgument('right_ir_fps', default_value='0'), - DeclareLaunchArgument('right_ir_format', default_value='ANY'), - DeclareLaunchArgument('enable_right_ir', default_value='false'), - DeclareLaunchArgument('right_ir_qos', default_value='default'), - DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'), - DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'), - DeclareLaunchArgument('ir_exposure', default_value='-1'), - DeclareLaunchArgument('ir_gain', default_value='-1'), - DeclareLaunchArgument('ir_ae_max_exposure', 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('enable_accel_data_correction', default_value='true'), - DeclareLaunchArgument('accel_rate', default_value='200hz'), - DeclareLaunchArgument('accel_range', default_value='3g'), - DeclareLaunchArgument('enable_gyro', default_value='false'), - DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'), - DeclareLaunchArgument('gyro_rate', default_value='200hz'), - DeclareLaunchArgument('gyro_range', default_value='250dps'), - DeclareLaunchArgument('linear_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('disparity_to_depth_mode', default_value='HW'), - DeclareLaunchArgument('enable_ldp', default_value='true'), - DeclareLaunchArgument('ldp_power_level', default_value='-1'), - DeclareLaunchArgument('sync_mode', default_value='standalone'), - DeclareLaunchArgument('depth_delay_us', default_value='0'), - DeclareLaunchArgument('color_delay_us', default_value='0'), - DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_enabled', default_value='true'), - DeclareLaunchArgument('frames_per_trigger', default_value='2'), - DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms - DeclareLaunchArgument('enable_frame_sync', default_value='true'), - DeclareLaunchArgument('ordered_pc', default_value='false'), - DeclareLaunchArgument('enable_depth_scale', default_value='true'), - DeclareLaunchArgument('enable_decimation_filter', default_value='false'), - DeclareLaunchArgument('enable_hdr_merge', default_value='false'), - DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), - DeclareLaunchArgument('enable_threshold_filter', default_value='false'), - DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'), - DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'), - DeclareLaunchArgument('enable_spatial_filter', default_value='false'), - DeclareLaunchArgument('enable_temporal_filter', default_value='false'), - DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'), - DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), - DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), - DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'), - DeclareLaunchArgument('threshold_filter_max', default_value='-1'), - DeclareLaunchArgument('threshold_filter_min', default_value='-1'), - DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'), - DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='512'), - DeclareLaunchArgument('noise_removal_filter_max_size', default_value='240'), - DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'), - DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'), - DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'), - DeclareLaunchArgument('spatial_filter_radius', default_value='-1'), - DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'), - DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'), - DeclareLaunchArgument('hole_filling_filter_mode', default_value=''), - DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'), - DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'), - DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'), - DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'), - DeclareLaunchArgument('align_mode', default_value='HW'), - DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH - DeclareLaunchArgument('diagnostic_period', default_value='1.0'), - DeclareLaunchArgument('enable_laser', default_value='true'), - DeclareLaunchArgument('depth_precision', default_value=''), - DeclareLaunchArgument('device_preset', default_value='Standard'), - DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_sync_host_time', default_value='true'), - DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system - DeclareLaunchArgument('enable_color_undistortion', default_value='false'), - DeclareLaunchArgument('config_file_path', default_value=''), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - - #color image transport plugins - DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), - #depth image transport plugins - DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw"]'), - #infra1 - DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), - #infra2 - DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), - ] - - def get_params(context, args): - return [load_parameters(context, args)] - - def create_node_action(context, args): - params = get_params(context, args) - ros_distro = os.environ.get("ROS_DISTRO", "humble") - if ros_distro == "foxy": - return [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=params, - output="screen", - ) - ] - else: - return [ - GroupAction([ - PushRosNamespace(LaunchConfiguration("camera_name")), - ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - parameters=params, - ), - ], - output="screen", - ) - ]) - ] - - return LaunchDescription( - args + [ - OpaqueFunction(function=lambda context: create_node_action(context, args)) - ] - ) diff --git a/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py b/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py index 9f00153a..d64b33b3 100644 --- a/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py +++ b/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py @@ -44,7 +44,7 @@ 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" + package_dir, "examples/gmsl_camera" #or launch ) config_file_dir = os.path.join(package_dir, "config") secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml") @@ -68,7 +68,7 @@ def generate_launch_description(): launch1_include = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py") + os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py") #or gemini345_lg.launch.py ), launch_arguments={ "camera_name": "camera_01", @@ -83,7 +83,7 @@ def generate_launch_description(): launch2_include = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py") + os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")#or gemini345_lg.launch.py ), launch_arguments={ "camera_name": "camera_02",