i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
datean
2024-11-27 20:58:27 +08:00
parent 90dfddeaa0
commit b2b3be6075
6 changed files with 132 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/launch/multi_camera_synced.launch.py
+27 -28
View File
@@ -7,6 +7,7 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.actions import DeclareLaunchArgument
from launch.conditions import UnlessCondition, IfCondition
from launch.substitutions import LaunchConfiguration
from launch.substitutions import TextSubstitution
def generate_launch_description():
# Include launch files
@@ -15,22 +16,29 @@ def generate_launch_description():
config_file_dir = os.path.join(package_dir, "config")
config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
use_intra_process_comms_arg = DeclareLaunchArgument(
use_intra_process_comms_declare = DeclareLaunchArgument(
'use_intra_process_comms', default_value='true',
)
attach_to_shared_component_container_arg = DeclareLaunchArgument(
'attach_to_shared_component_container', default_value='true',
attach_to_shared_component_container_declare = DeclareLaunchArgument(
'attach_to_shared_component_container', default_value='false',
)
component_container_name_declare = DeclareLaunchArgument(
'component_container_name', default_value='shared_orbbec_container'
)
shared_container_name = "shared_orbbec_container"
shared_container = Node(
name=shared_container_name,
attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
shared_orbbec_container = Node(
name=component_container_name_arg,
package='rclcpp_components',
executable='component_container_mt',
output='screen',
condition=IfCondition(LaunchConfiguration('attach_to_shared_component_container'))
condition=UnlessCondition(attach_to_shared_component_container_arg)
)
attach_to_shared_component_container_arg = TextSubstitution(text='true')
front_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
@@ -42,11 +50,10 @@ def generate_launch_description():
"sync_mode": "primary",
"config_file_path": config_file_path,
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
'component_container_name': shared_container_name,
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
'component_container_name': component_container_name_arg,
}.items(),
)
left_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
@@ -58,8 +65,8 @@ def generate_launch_description():
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
'component_container_name': shared_container_name,
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
'component_container_name': component_container_name_arg,
}.items(),
)
right_camera = IncludeLaunchDescription(
@@ -73,8 +80,8 @@ def generate_launch_description():
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
'component_container_name': shared_container_name,
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
'component_container_name': component_container_name_arg,
}.items(),
)
rear_camera = IncludeLaunchDescription(
@@ -88,20 +95,11 @@ def generate_launch_description():
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
'component_container_name': shared_container_name,
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
'component_container_name': component_container_name_arg,
}.items(),
)
# Launch description
# ld = LaunchDescription(
# [
# TimerAction(period=0.5, actions=[GroupAction([left_camera])]),
# TimerAction(period=0.5, actions=[GroupAction([right_camera])]),
# TimerAction(period=0.5, actions=[GroupAction([rear_camera])]),
# TimerAction(period=0.5, actions=[GroupAction([front_camera])]),
# ]
# )
delayed_left_camera = TimerAction(
period=0.5,
actions=[left_camera],
@@ -120,9 +118,10 @@ def generate_launch_description():
)
ld = LaunchDescription(
[
use_intra_process_comms_arg,
attach_to_shared_component_container_arg,
shared_container,
use_intra_process_comms_declare,
attach_to_shared_component_container_declare,
component_container_name_declare,
shared_orbbec_container,
delayed_left_camera,
delayed_right_camera,
delayed_rear_camera,