From 7fcf3f899e7df1350cc3c761225ccb81481122b0 Mon Sep 17 00:00:00 2001 From: Joe Dong Date: Wed, 8 May 2024 19:07:50 +0800 Subject: [PATCH] add gemini2RF launch --- orbbec_camera/launch/gemini2RF.launch.py | 162 +++++++++++++++++++++++ 1 file changed, 162 insertions(+) create mode 100644 orbbec_camera/launch/gemini2RF.launch.py diff --git a/orbbec_camera/launch/gemini2RF.launch.py b/orbbec_camera/launch/gemini2RF.launch.py new file mode 100644 index 00000000..830fed17 --- /dev/null +++ b/orbbec_camera/launch/gemini2RF.launch.py @@ -0,0 +1,162 @@ +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 +from launch_ros.actions import Node +import os + + +def generate_launch_description(): + # Declare arguments + 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('point_cloud_qos', default_value='default'), + DeclareLaunchArgument('enable_point_cloud', default_value='true'), + DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'), + 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('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='480'), + DeclareLaunchArgument('depth_fps', default_value='30'), + DeclareLaunchArgument('depth_format', default_value='Y16'), + DeclareLaunchArgument('enable_depth', default_value='true'), + DeclareLaunchArgument('depth_qos', default_value='default'), + DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), + DeclareLaunchArgument('left_ir_width', default_value='640'), + DeclareLaunchArgument('left_ir_height', default_value='480'), + DeclareLaunchArgument('left_ir_fps', default_value='30'), + DeclareLaunchArgument('left_ir_format', default_value='Y8'), + 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='640'), + DeclareLaunchArgument('right_ir_height', default_value='480'), + DeclareLaunchArgument('right_ir_fps', default_value='30'), + DeclareLaunchArgument('right_ir_format', default_value='Y8'), + 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('enable_sync_output_accel_gyro', default_value='true'), + DeclareLaunchArgument('enable_accel', default_value='false'), + DeclareLaunchArgument('accel_rate', default_value='200hz'), + DeclareLaunchArgument('accel_range', default_value='4g'), + DeclareLaunchArgument('enable_gyro', default_value='false'), + DeclareLaunchArgument('gyro_rate', default_value='200hz'), + DeclareLaunchArgument('gyro_range', default_value='1000dps'), + DeclareLaunchArgument('liner_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='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_ldp', default_value='true'), + DeclareLaunchArgument('enable_soft_filter', default_value='true'), + DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), + DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), + DeclareLaunchArgument('sync_mode', default_value='free_run'), + 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='false'), + DeclareLaunchArgument('enable_frame_sync', default_value='true'), + DeclareLaunchArgument('ordered_pc', default_value='false'), + DeclareLaunchArgument('use_hardware_time', default_value='true'), + 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_noise_removal_filter', default_value='true'), + DeclareLaunchArgument('enable_spatial_filter', default_value='false'), + DeclareLaunchArgument('enable_temporal_filter', default_value='false'), + DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), + DeclareLaunchArgument('decimation_filter_scale_range', default_value='2'), + DeclareLaunchArgument('sequence_id_filter_id', default_value='1'), + DeclareLaunchArgument('threshold_filter_max', default_value='16000'), + DeclareLaunchArgument('threshold_filter_min', default_value='0'), + DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='8'), + DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'), + DeclareLaunchArgument('spatial_filter_alpha', default_value='0.5'), + DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='8'), + DeclareLaunchArgument('spatial_filter_magnitude', default_value='1'), + DeclareLaunchArgument('spatial_filter_radius', default_value='1'), + DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='0.1'), + DeclareLaunchArgument('temporal_filter_weight', default_value='0.4'), + DeclareLaunchArgument('hole_filling_filter_mode', default_value='FILL_TOP'), + DeclareLaunchArgument('align_mode', default_value='SW'), + DeclareLaunchArgument('diagnostic_period', default_value='1.0'), + DeclareLaunchArgument('enable_laser', default_value='true'), + DeclareLaunchArgument('depth_precision', default_value='1mm'), + # Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate. + DeclareLaunchArgument('laser_on_off_mode', default_value='0'), + DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), + ] + + # Node configuration + parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] + # get ROS_DISTRO + ros_distro = os.environ["ROS_DISTRO"] + if ros_distro == "foxy": + return LaunchDescription( + args + + [ + Node( + package="orbbec_camera", + executable="orbbec_camera_node", + name="ob_camera_node", + namespace=LaunchConfiguration("camera_name"), + parameters=parameters, + output="screen", + ) + ] + ) + # Define the ComposableNode + else: + # 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