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

isaac_orbbec_launch/CMakeLists.txt

@@ -0,0 +1,12 @@
+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

@@ -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,
+      ]
+    )

isaac_orbbec_launch/package.xml

@@ -0,0 +1,18 @@
+<?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>

orbbec_camera/config/OrbbecSDKConfig_v1.0.xml

@@ -10,7 +10,7 @@
         <!-- File log output level -->
         <FileLogLevel>0</FileLogLevel>
         <!-- Console log output level -->
-        <ConsoleLogLevel>3</ConsoleLogLevel>
+        <ConsoleLogLevel>4</ConsoleLogLevel>
         <!-- Default log output file path, string type. If this item is not configured, the default
         path will be used: Win/Linux: "./Log"; Android: "/sdcard/orbbec/Log" -->
         <!-- <OutputDir>./log</OutputDir> -->

orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py

@@ -188,7 +188,7 @@ def generate_launch_description():
         DeclareLaunchArgument('interleave_skip_index', default_value='0'), # 0:skip pattern ir  1: skip flood ir
         DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
         DeclareLaunchArgument('attach_to_shared_component_container', default_value='false'),
-        DeclareLaunchArgument('component_container_name', default_value='orbbec_container'),
+        DeclareLaunchArgument('component_container_name', default_value='shared_orbbec_container'),
         DeclareLaunchArgument('delta_duration', default_value='5000.0'),
         DeclareLaunchArgument('delta_fps', default_value='2'),
     ]
@@ -212,9 +212,9 @@ def generate_launch_description():
             ]
         else:
             attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
-            component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
+            component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
 
-            orbbec_container = Node(
+            shared_orbbec_container = Node(
                 name=component_container_name_arg,
                 package='rclcpp_components',
                 executable='component_container_mt',
@@ -222,7 +222,7 @@ def generate_launch_description():
                 condition=UnlessCondition(attach_to_shared_component_container_arg)
             )
             return [
-                orbbec_container,
+                shared_orbbec_container,
                 LoadComposableNodes(
                   target_container=component_container_name_arg,
                   composable_node_descriptions=[

orbbec_camera/launch/multi_camera_synced.launch.py

@@ -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_declare = DeclareLaunchArgument(
-        'attach_to_shared_component_container', default_value='true',
+        '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"
+    attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
-    shared_container = Node(
+    component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
-        name=shared_container_name,
+
+    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"),
+            'attach_to_shared_component_container': attach_to_shared_component_container_arg,
-            'component_container_name': shared_container_name,
+            '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"),
+            'attach_to_shared_component_container': attach_to_shared_component_container_arg,
-            'component_container_name': shared_container_name,
+            '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"),
+            'attach_to_shared_component_container': attach_to_shared_component_container_arg,
-            'component_container_name': shared_container_name,
+            '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"),
+            'attach_to_shared_component_container': attach_to_shared_component_container_arg,
-            'component_container_name': shared_container_name,
+            '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,
+        use_intra_process_comms_declare,
-        attach_to_shared_component_container_arg,
+        attach_to_shared_component_container_declare,
-        shared_container,
+        component_container_name_declare,
+        shared_orbbec_container,
         delayed_left_camera,
         delayed_right_camera,
         delayed_rear_camera,