diff --git a/orbbec_camera/launch/gemini210.launch.py b/orbbec_camera/launch/gemini210.launch.py new file mode 100644 index 00000000..e2b8be4b --- /dev/null +++ b/orbbec_camera/launch/gemini210.launch.py @@ -0,0 +1,182 @@ +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("uvc_backend", default_value="libuvc"), # libuvc or v4l2 + DeclareLaunchArgument("product_id", default_value=""), + DeclareLaunchArgument("enable_point_cloud", default_value="true"), + DeclareLaunchArgument("cloud_frame_id", default_value=""), + 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="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_flip", 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("color_ae_max_exposure", default_value="-1"), + DeclareLaunchArgument("color_ae_roi_left", default_value="-1"), + DeclareLaunchArgument("color_ae_roi_right", default_value="-1"), + DeclareLaunchArgument("color_ae_roi_top", default_value="-1"), + DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"), + 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_brightness", default_value="-1"), + DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), + DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), + 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_flip", default_value="false"), + DeclareLaunchArgument("depth_qos", default_value="default"), + DeclareLaunchArgument("depth_camera_info_qos", default_value="default"), + DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"), + DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"), + DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"), + DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"), + DeclareLaunchArgument("ir_width", default_value="0"), + DeclareLaunchArgument("ir_height", default_value="0"), + DeclareLaunchArgument("ir_fps", default_value="0"), + DeclareLaunchArgument("ir_format", default_value="ANY"), + DeclareLaunchArgument("enable_ir", default_value="true"), + DeclareLaunchArgument("ir_flip", 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("ir_ae_max_exposure", default_value="-1"), + DeclareLaunchArgument("ir_exposure", default_value="-1"), + DeclareLaunchArgument("ir_gain", default_value="-1"), + DeclareLaunchArgument("ir_brightness", default_value="-1"), + DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="true"), + DeclareLaunchArgument("enable_accel", default_value="false"), + DeclareLaunchArgument("accel_rate", default_value="100hz"), + DeclareLaunchArgument("accel_range", default_value="4g"), + DeclareLaunchArgument("enable_gyro", default_value="false"), + DeclareLaunchArgument("gyro_rate", default_value="100hz"), + 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="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('disaparity_to_depth_mode', default_value='SW'), + DeclareLaunchArgument("enable_ldp", default_value="true"), + DeclareLaunchArgument('enable_decimation_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_disaparity_to_depth', default_value='true'), + DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), + DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), + DeclareLaunchArgument('threshold_filter_max', default_value='-1'), + DeclareLaunchArgument('threshold_filter_min', default_value='-1'), + DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'), + DeclareLaunchArgument('noise_removal_filter_max_size', default_value='200'), + 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=''), + # Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json + DeclareLaunchArgument("depth_filter_config", default_value=""), + # Depth work mode support is as follows: + # Unbinned Dense Default + # Unbinned Sparse Default + # Binned Sparse Default + # Obstacle Avoidance + DeclareLaunchArgument("depth_work_mode", default_value=""), + 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="false"), + DeclareLaunchArgument("enable_frame_sync", default_value="true"), + DeclareLaunchArgument("ordered_pc", default_value="false"), + DeclareLaunchArgument("enable_depth_scale", default_value="true"), + DeclareLaunchArgument("align_mode", default_value="HW"), + DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"), + DeclareLaunchArgument("laser_energy_level", default_value="-1"), + DeclareLaunchArgument("enable_heartbeat", default_value="false"), + DeclareLaunchArgument("time_domain", default_value="global"), + ] + + # 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 diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py index eaaef580..6a29aa25 100644 --- a/orbbec_camera/launch/gemini_330_series.launch.py +++ b/orbbec_camera/launch/gemini_330_series.launch.py @@ -162,7 +162,7 @@ def generate_launch_description(): # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices # If you do not want to automatically enumerate network devices, # you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090 - DeclareLaunchArgument('enumerate_net_device', default_value='false'), + DeclareLaunchArgument('enumerate_net_device', default_value='true'), DeclareLaunchArgument('net_device_ip', default_value=''), DeclareLaunchArgument('net_device_port', default_value='0'), DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular