mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-13 19:40:19 +08:00
Remove obsolete camera configuration files and launch scripts for Orbbec cameras
This commit is contained in:
ob-yalian
@@ -1,194 +0,0 @@
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import os
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import yaml
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import logging
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch_ros.descriptions import ComposableNode
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from launch.conditions import UnlessCondition
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from launch_ros.actions import LoadComposableNodes
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from ament_index_python.packages import get_package_share_directory
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import sys
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sys.path.append(os.path.dirname(os.path.realpath(__file__)))
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from utils_yaml import *
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logging.basicConfig(level=logging.INFO)
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logger = logging.getLogger(__name__)
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default_package_name = 'orbbec_camera'
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default_camera_model = 'gemini330_series'
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default_common_yaml = 'common.yaml'
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default_component_container_name = 'orbbec_container'
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def generate_launch_arguments():
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launch_arguments = [
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#general config
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DeclareLaunchArgument('camera_model', default_value=default_camera_model),
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DeclareLaunchArgument('config_file_path', default_value=''),
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('timestamp_clock_type', default_value=''), # realtime or monotonic, default is realtime.
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#multi-device sync param
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('sync_mode', default_value='standalone'),
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DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
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DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
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DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
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DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
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DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
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DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
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DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
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DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
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#instra-process demo set
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DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
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DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
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DeclareLaunchArgument('attach_component_container_name', default_value=default_component_container_name),
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]
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return launch_arguments
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def load_common_yaml_params():
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common_yaml_path = os.path.join(
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get_package_share_directory(default_package_name), 'config', default_common_yaml
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)
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common_yaml_path = get_absolute_path(common_yaml_path, package_name=default_package_name)
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logger.info(f"load convert Absolute path: {common_yaml_path}")
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return load_and_parse_yaml(common_yaml_path)
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def load_config_yaml_params(config_file_path, camera_model):
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config_yaml_path = config_file_path or os.path.join(
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get_package_share_directory(default_package_name), 'config', f"{camera_model}.yaml"
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)
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config_yaml_path = get_absolute_path(config_yaml_path, package_name=default_package_name)
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print(f"load convert Absolute config_yaml_path: {config_yaml_path}")
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return load_and_parse_yaml(config_yaml_path)
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def load_parameters(context, args):
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camera_model = LaunchConfiguration("camera_model").perform(context)
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config_file_path = LaunchConfiguration("config_file_path").perform(context)
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usb_port = LaunchConfiguration("usb_port").perform(context)
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print(f"camera_model: {camera_model}", f"config_file_path: {config_file_path}", f"usb_port: {usb_port}")
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try:
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#1.load ymal params
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yaml_common_params = load_common_yaml_params()
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yaml_params = load_config_yaml_params(config_file_path,camera_model)
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#print_params(yaml_common_params)
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#print_params(yaml_params)
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yaml_params = update_params(yaml_common_params,yaml_params)
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#print_params(yaml_params)
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#2.load args params
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args_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
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#print_params(args_params)
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#3.meger params args
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if usb_port is None or usb_port == "": #meger yaml->args params
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print("usb_port param null")
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default_params = update_params(args_params, yaml_params)
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else:
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print("usb_port param not null value:", usb_port) #meger args->yaml params
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default_params = update_params(yaml_params, args_params)
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#print_params(default_params)
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#4.load cmd params & meger params cmd->yaml
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cmd_params = dict([a for a in [a.split(':=') for a in sys.argv] if len(a) == 2])
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default_params = update_params(default_params,cmd_params)
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#print_params(args_params)
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except (FileNotFoundError, yaml.YAMLError) as e:
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logger.error(f"Error loading YAML file: {e}")
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return {}
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#5.Skip conversion for specific parameters
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SKIP_CONVERT = {'config_file_path', 'usb_port', 'serial_number', 'attach_component_container_name'}
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return {
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key: (value if key in SKIP_CONVERT else convert_value(value))
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for key, value in default_params.items()
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}
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def find_camera_name(params):
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return find_param(params, 'camera_name', 'camera')
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def find_use_intra_process_comms(params):
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return find_param(params, 'use_intra_process_comms', False)
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def generate_launch_description():
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args = generate_launch_arguments()
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def get_params(context, args):
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return [load_parameters(context, args)]
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def create_composable_node(camera_name, params, use_intra_process):
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common_arguments = [{'use_intra_process_comms': use_intra_process}]
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composable_node = ComposableNode(
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namespace=camera_name,
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name=camera_name,
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package=default_package_name,
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plugin='orbbec_camera::OBCameraNodeDriver',
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parameters=params,
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#extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
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extra_arguments=common_arguments,
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)
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return composable_node
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def create_orbbec_container(attach_component_container_name, attach_component_container_enable):
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orbbec_container = Node(
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name=attach_component_container_name,
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package='rclcpp_components',
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executable='component_container_mt',
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output='screen',
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condition=UnlessCondition(attach_component_container_enable)
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)
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return orbbec_container
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def create_node_action(context, args):
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params = get_params(context, args)
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camera_name = find_camera_name(params)
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use_intra_process = find_use_intra_process_comms(params)
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#use_intra_process = LaunchConfiguration("use_intra_process_comms", default=False).perform(context)
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print(f"camera_name: {camera_name}", f"use_intra_process: {use_intra_process}")
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attach_enable_condition = LaunchConfiguration("attach_component_container_enable", default=False).perform(context)
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attach_component_container_name = LaunchConfiguration("attach_component_container_name", default='orbbec_container').perform(context)
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print(f"attach_enable_condition: {attach_enable_condition}", f"attach_component_container_name: {attach_component_container_name}")
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ros_distro = os.environ.get("ROS_DISTRO", "humble")
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if ros_distro == "foxy":
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return [
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Node(
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package=default_package_name,
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executable="orbbec_camera_node",
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name="ob_camera_node",
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namespace=camera_name,
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parameters=params,
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output="log",
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#condition=UnlessCondition(attach_enable_condition)
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#prefix=['xterm -e gdb -ex run --args'],
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),
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]
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else:
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composable_node = create_composable_node(camera_name, params, use_intra_process)
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orbbec_container= create_orbbec_container(attach_component_container_name, attach_enable_condition)
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return [
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orbbec_container,
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LoadComposableNodes(
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target_container=attach_component_container_name,
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composable_node_descriptions=[composable_node]
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),
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]
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return LaunchDescription(
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args + [
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OpaqueFunction(function=lambda context: create_node_action(context, args))
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]
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)
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@@ -1,86 +0,0 @@
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory('orbbec_camera')
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launch_file_dir = os.path.join(package_dir, 'launch')
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G330_0 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
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),
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launch_arguments={
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'camera_model': 'gemini330_series',
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'attach_component_container_enable': 'true',
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'camera_name': 'G330_0',
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'usb_port': '2-1',
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'device_num': '4',
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# 'sync_mode': 'primary',
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}.items()
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)
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G330_1 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
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),
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launch_arguments={
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'camera_model': 'gemini330_series',
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'attach_component_container_enable': 'false',
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'camera_name': 'G330_1',
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'usb_port': '2-4',
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'device_num': '4',
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# 'sync_mode': 'secondary_synced',
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# 'trigger_out_enabled': 'false',
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}.items()
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)
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G330_2 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
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),
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launch_arguments={
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'camera_model': 'gemini330_series',
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'attach_component_container_enable': 'true',
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'camera_name': 'G330_2',
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'usb_port': '2-7',
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'device_num': '4',
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# 'sync_mode': 'secondary_synced',
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# 'trigger_out_enabled': 'false',
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}.items()
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)
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G330_3 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
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),
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launch_arguments={
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'camera_model': 'gemini330_series',
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'attach_component_container_enable': 'true',
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'camera_name': 'G330_3',
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'usb_port': '2-3',
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'device_num': '4',
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# 'sync_mode': 'secondary_synced',
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# 'trigger_out_enabled': 'false',
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}.items()
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)
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# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
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# Launch description
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ld = LaunchDescription(
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[
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TimerAction(period=0.0, actions=[GroupAction([G330_1])]),
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TimerAction(period=2.0, actions=[GroupAction([G330_2])]),
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TimerAction(period=4.0, actions=[GroupAction([G330_3])]),
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TimerAction(period=6.0, actions=[GroupAction([G330_0])]),
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# The primary camera should be launched at last
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]
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)
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return ld
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