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run all nodes in launch.py

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datean
2024-12-24 10:17:01 +08:00
parent 0ff748b491
commit a6a6d31780
3 changed files with 681 additions and 4 deletions
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isaac_orbbec_launch/launch/base_static_transforms_publisher.py
+11 -1
View File
@@ -7,6 +7,7 @@ import yaml
from scipy.spatial.transform import Rotation as R
import sys
import os
import argparse
def rotation_matrix_to_quaternion(rotation_matrix):
r = R.from_matrix(rotation_matrix)
@@ -87,7 +88,16 @@ def main():
print("Usage: python static_transforms_publisher.py <path_to_yaml>")
sys.exit(1)
yaml_path = sys.argv[1]
# yaml_path = sys.argv[1]
parser = argparse.ArgumentParser(description="Base Static Transforms Publisher")
parser.add_argument('--dev_matrices', type=str, required=True,
help="Path to the device extrinsics matrices file")
args = parser.parse_args()
yaml_path = args.dev_matrices
# Use the dev_matrices argument
print(f"Using device matrices file: {args.dev_matrices}")
rclpy.init()
node = StaticTransformsPublisher(yaml_path)
isaac_orbbec_launch/launch/orbbec_perceptor.launch.py
+42 -3
View File
@@ -12,11 +12,22 @@ from launch.actions import GroupAction
def generate_launch_description():
orbbec_camera_bringup_dir = get_package_share_directory('orbbec_camera')
isaac_orbbec_launch_dir = get_package_share_directory('isaac_orbbec_launch')
perceptor_bringup_dir = get_package_share_directory('isaac_ros_perceptor_bringup')
perceptor_config_file = DeclareLaunchArgument(
'perceptor_config_file', default_value='param/orbbec_perceptor_detached.yaml',
default_perceptor_config_file = os.path.join(isaac_orbbec_launch_dir, 'param', 'orbbec_perceptor_detached.yaml')
perceptor_odom_rviz_file = os.path.join(isaac_orbbec_launch_dir, 'param', 'perceptor_odom.rviz')
default_dev_matrices_file = os.path.join(isaac_orbbec_launch_dir, 'config', 'matrices_SN1423724335594.yaml')
perceptor_config_file_arg = DeclareLaunchArgument(
'perceptor_config_file', default_value=default_perceptor_config_file,
description="Perceptor configuration")
perceptor_odom_rviz_file_arg = DeclareLaunchArgument(
'perceptor_odom_rviz_file', default_value=perceptor_odom_rviz_file,
description="Perceptor configuration")
dev_matrices_arg = DeclareLaunchArgument(
'dev_matrices', default_value=default_dev_matrices_file,
description='default device extrinsics matrices')
from_bag_arg = DeclareLaunchArgument(
'from_bag', default_value='False',
description='Whether to run from a bag or live realsense data')
@@ -39,6 +50,22 @@ def generate_launch_description():
'component_container_name': component_container_name_arg}.items(),
condition=UnlessCondition(LaunchConfiguration('from_bag')))
dev_matrices_arg = DeclareLaunchArgument(
'dev_matrices', default_value=default_dev_matrices_file,
description='default device extrinsics matrices')
base_static_transforms_publisher = ExecuteProcess(
cmd=[
'python3',
os.path.join(
get_package_share_directory('isaac_orbbec_launch'), # Adjust this package name
'launch',
'base_static_transforms_publisher.py'
),
'--dev_matrices', LaunchConfiguration('dev_matrices')
],
output='screen'
)
perceptor_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
perceptor_bringup_dir, 'launch', 'rgbd_perceptor.launch.py')]),
@@ -58,13 +85,25 @@ def generate_launch_description():
output='screen',
condition=IfCondition(LaunchConfiguration('from_bag')))
rviz2_node = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', LaunchConfiguration('perceptor_odom_rviz_file')]
)
return LaunchDescription([
perceptor_config_file,
perceptor_config_file_arg,
perceptor_odom_rviz_file_arg,
dev_matrices_arg,
from_bag_arg,
bag_path_arg,
shared_orbbec_container,
orbbec_launch,
base_static_transforms_publisher,
perceptor_launch,
bag_play,
rviz2_node,
]
)