add launch scripts for Orbbec cameras and algorithms, and integrate the use of component containers

isaac_orbbec_launch/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(isaac_orbbec_launch)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+find_package(ament_cmake REQUIRED)
+# install the launch files
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+ament_package()

isaac_orbbec_launch/launch/orbbec_perceptor.launch.py

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+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.conditions import IfCondition, UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch.actions import TimerAction
+from launch.actions import GroupAction
+
+def generate_launch_description():
+    orbbec_camera_bringup_dir = get_package_share_directory('orbbec_camera')
+    perceptor_bringup_dir = get_package_share_directory('isaac_ros_perceptor_bringup')
+
+    perceptor_config_file = DeclareLaunchArgument(
+        'perceptor_config_file', default_value='params/orbbec_perceptor_detached.yaml',
+        description="Perceptor configuration")
+    from_bag_arg = DeclareLaunchArgument(
+        'from_bag', default_value='False',
+        description='Whether to run from a bag or live realsense data')
+    bag_path_arg = DeclareLaunchArgument(
+        'bag_path', default_value='rosbag2*',
+        description='Path of the bag (only used if from_bag == True)')
+
+    component_container_name_arg = "shared_orbbec_container"
+    shared_orbbec_container = Node(
+        name=component_container_name_arg,
+        package='rclcpp_components',
+        executable='component_container_mt',
+        output='screen')
+
+    orbbec_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            orbbec_camera_bringup_dir, 'launch', 'multi_camera_synced.launch.py')]),
+        launch_arguments={
+            'attach_to_shared_component_container': 'True',
+            'component_container_name': component_container_name_arg}.items(),
+        condition=UnlessCondition(LaunchConfiguration('from_bag')))
+
+    perceptor_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([os.path.join(
+            perceptor_bringup_dir, 'launch', 'rgbd_perceptor.launch.py')]),
+        launch_arguments={'config_file': LaunchConfiguration("perceptor_config_file"),
+                          'attach_to_shared_component_container': 'True',
+                          'component_container_name': component_container_name_arg}.items())
+    delayed_perceptor_launch = TimerAction(
+      period=0.5,
+      actions=[
+          GroupAction(actions=[perceptor_launch])
+      ]
+    )
+
+    bag_play = ExecuteProcess(
+        cmd=['ros2', 'bag', 'play', LaunchConfiguration('bag_path')],
+        shell=True,
+        output='screen',
+        condition=IfCondition(LaunchConfiguration('from_bag')))
+
+    return LaunchDescription([
+        perceptor_config_file,
+        from_bag_arg,
+        bag_path_arg,
+        shared_orbbec_container,
+        perceptor_launch,
+        orbbec_launch,
+        bag_play,
+      ]
+    )

isaac_orbbec_launch/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>isaac_orbbec_launch</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">toosimple</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>