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

2026-10-04 03:57:46 +08:00 · 2024-11-27 20:58:27 +08:00
parent 90dfddeaa0
commit b2b3be6075
6 changed files with 132 additions and 33 deletions
@@ -0,0 +1,70 @@
+
+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,
+      ]
+    )