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https://github.com/orbbec/OrbbecSDK_ROS2.git
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Add gemini210.launch.py
This commit is contained in:
jj
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace
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from launch.actions import GroupAction
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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from launch_ros.actions import Node
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import os
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def generate_launch_description():
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# Declare arguments
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args = [
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DeclareLaunchArgument("camera_name", default_value="camera"),
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DeclareLaunchArgument("depth_registration", default_value="true"),
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DeclareLaunchArgument("serial_number", default_value=""),
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DeclareLaunchArgument("usb_port", default_value=""),
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DeclareLaunchArgument("device_num", default_value="1"),
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DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
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DeclareLaunchArgument("product_id", default_value=""),
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DeclareLaunchArgument("enable_point_cloud", default_value="true"),
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DeclareLaunchArgument("cloud_frame_id", default_value=""),
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DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
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DeclareLaunchArgument("point_cloud_qos", default_value="default"),
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DeclareLaunchArgument("connection_delay", default_value="100"),
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DeclareLaunchArgument("color_width", default_value="0"),
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DeclareLaunchArgument("color_height", default_value="0"),
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DeclareLaunchArgument("color_fps", default_value="0"),
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DeclareLaunchArgument("color_format", default_value="ANY"),
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DeclareLaunchArgument("enable_color", default_value="true"),
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DeclareLaunchArgument("color_flip", default_value="false"),
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DeclareLaunchArgument("color_qos", default_value="default"),
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DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
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DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
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DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
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DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
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DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
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DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
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DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"),
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DeclareLaunchArgument("color_exposure", default_value="-1"),
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DeclareLaunchArgument("color_gain", default_value="-1"),
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DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
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DeclareLaunchArgument("color_white_balance", default_value="-1"),
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DeclareLaunchArgument("color_brightness", default_value="-1"),
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DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
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DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument("depth_width", default_value="0"),
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DeclareLaunchArgument("depth_height", default_value="0"),
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DeclareLaunchArgument("depth_fps", default_value="0"),
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DeclareLaunchArgument("depth_format", default_value="ANY"),
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DeclareLaunchArgument("enable_depth", default_value="true"),
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DeclareLaunchArgument("depth_flip", default_value="false"),
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DeclareLaunchArgument("depth_qos", default_value="default"),
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DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
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DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
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DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
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DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"),
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DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"),
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DeclareLaunchArgument("ir_width", default_value="0"),
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DeclareLaunchArgument("ir_height", default_value="0"),
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DeclareLaunchArgument("ir_fps", default_value="0"),
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DeclareLaunchArgument("ir_format", default_value="ANY"),
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DeclareLaunchArgument("enable_ir", default_value="true"),
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DeclareLaunchArgument("ir_flip", default_value="false"),
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DeclareLaunchArgument("ir_qos", default_value="default"),
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DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
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DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
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DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
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DeclareLaunchArgument("ir_exposure", default_value="-1"),
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DeclareLaunchArgument("ir_gain", default_value="-1"),
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DeclareLaunchArgument("ir_brightness", default_value="-1"),
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DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="true"),
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DeclareLaunchArgument("enable_accel", default_value="false"),
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DeclareLaunchArgument("accel_rate", default_value="100hz"),
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DeclareLaunchArgument("accel_range", default_value="4g"),
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DeclareLaunchArgument("enable_gyro", default_value="false"),
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DeclareLaunchArgument("gyro_rate", default_value="100hz"),
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DeclareLaunchArgument("gyro_range", default_value="1000dps"),
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DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
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DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
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DeclareLaunchArgument("publish_tf", default_value="true"),
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DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
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DeclareLaunchArgument("ir_info_url", default_value=""),
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DeclareLaunchArgument("color_info_url", default_value=""),
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DeclareLaunchArgument("log_level", default_value="none"),
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DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
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DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
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DeclareLaunchArgument('disaparity_to_depth_mode', default_value='SW'),
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DeclareLaunchArgument("enable_ldp", default_value="true"),
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DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
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DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
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DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
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DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
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DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
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DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
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DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
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DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
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DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
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DeclareLaunchArgument('noise_removal_filter_max_size', default_value='200'),
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DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
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DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
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DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
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DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
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DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
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# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
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DeclareLaunchArgument("depth_filter_config", default_value=""),
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# Depth work mode support is as follows:
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# Unbinned Dense Default
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# Unbinned Sparse Default
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# Binned Sparse Default
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# Obstacle Avoidance
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DeclareLaunchArgument("depth_work_mode", default_value=""),
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DeclareLaunchArgument("sync_mode", default_value="standalone"),
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DeclareLaunchArgument("depth_delay_us", default_value="0"),
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DeclareLaunchArgument("color_delay_us", default_value="0"),
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DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
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DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
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DeclareLaunchArgument("trigger_out_enabled", default_value="false"),
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DeclareLaunchArgument("enable_frame_sync", default_value="true"),
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DeclareLaunchArgument("ordered_pc", default_value="false"),
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DeclareLaunchArgument("enable_depth_scale", default_value="true"),
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DeclareLaunchArgument("align_mode", default_value="HW"),
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DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
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DeclareLaunchArgument("laser_energy_level", default_value="-1"),
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DeclareLaunchArgument("enable_heartbeat", default_value="false"),
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DeclareLaunchArgument("time_domain", default_value="global"),
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]
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# Node configuration
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parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
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# get ROS_DISTRO
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ros_distro = os.environ["ROS_DISTRO"]
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if ros_distro == "foxy":
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return LaunchDescription(
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args
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+ [
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Node(
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package="orbbec_camera",
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executable="orbbec_camera_node",
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name="ob_camera_node",
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namespace=LaunchConfiguration("camera_name"),
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parameters=parameters,
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output="screen",
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)
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]
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)
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# Define the ComposableNode
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else:
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# Define the ComposableNode
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compose_node = ComposableNode(
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package="orbbec_camera",
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plugin="orbbec_camera::OBCameraNodeDriver",
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name=LaunchConfiguration("camera_name"),
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namespace="",
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parameters=parameters,
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)
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# Define the ComposableNodeContainer
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container = ComposableNodeContainer(
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name="camera_container",
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namespace="",
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package="rclcpp_components",
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executable="component_container",
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composable_node_descriptions=[
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compose_node,
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],
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output="screen",
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)
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# Launch description
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ld = LaunchDescription(
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args
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+ [
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GroupAction(
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[PushRosNamespace(LaunchConfiguration("camera_name")), container]
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)
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]
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)
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return ld
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@@ -162,7 +162,7 @@ def generate_launch_description():
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# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
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# If you do not want to automatically enumerate network devices,
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# 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
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DeclareLaunchArgument('enumerate_net_device', default_value='false'),
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DeclareLaunchArgument('enumerate_net_device', default_value='true'),
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DeclareLaunchArgument('net_device_ip', default_value=''),
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DeclareLaunchArgument('net_device_port', default_value='0'),
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DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
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