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Update lidar.launch.py

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jj
2025-06-12 20:06:42 +08:00
parent e89add37ab
commit b365727f0a
1 changed files with 50 additions and 57 deletions
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orbbec_camera/launch/lidar.launch.py
+50 -57
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@@ -8,7 +8,7 @@ from launch_ros.descriptions import ComposableNode
def load_yaml(file_path): def load_yaml(file_path):
with open(file_path, "r") as f: with open(file_path, 'r') as f:
return yaml.safe_load(f) return yaml.safe_load(f)
@@ -29,22 +29,20 @@ def convert_value(value):
return float(value) return float(value)
except ValueError: except ValueError:
pass pass
if value.lower() == "true": if value.lower() == 'true':
return True return True
elif value.lower() == "false": elif value.lower() == 'false':
return False return False
return value return value
def load_parameters(context, args): def load_parameters(context, args):
default_params = { default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args config_file_path = LaunchConfiguration('config_file_path').perform(context)
}
config_file_path = LaunchConfiguration("config_file_path").perform(context)
if config_file_path: if config_file_path:
yaml_params = load_yaml(config_file_path) yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params) default_params = merge_params(default_params, yaml_params)
skip_convert = {"config_file_path", "usb_port", "serial_number"} skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
return { return {
key: (value if key in skip_convert else convert_value(value)) key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items() for key, value in default_params.items()
@@ -53,32 +51,28 @@ def load_parameters(context, args):
def generate_launch_description(): def generate_launch_description():
args = [ args = [
DeclareLaunchArgument("device_type", default_value="lidar"), DeclareLaunchArgument('device_type', default_value='lidar'),
DeclareLaunchArgument("camera_name", default_value="lidar"), DeclareLaunchArgument('camera_name', default_value='lidar'),
DeclareLaunchArgument("device_num", default_value="1"), DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument("upgrade_firmware", default_value=""), DeclareLaunchArgument('upgrade_firmware', default_value=''),
DeclareLaunchArgument("connection_delay", default_value="10"), DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument("publish_tf", default_value="true"), DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"), DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument( DeclareLaunchArgument('lidar_format', default_value='ANY'),#LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
"lidar_format", default_value="ANY" DeclareLaunchArgument('lidar_rate', default_value='20'),
), # LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN DeclareLaunchArgument('min_angle', default_value='-135.0'),
DeclareLaunchArgument("lidar_rate", default_value="20"), DeclareLaunchArgument('max_angle', default_value='135.0'),
DeclareLaunchArgument("min_angle", default_value="-135.0"), DeclareLaunchArgument('min_range', default_value='0.05'),
DeclareLaunchArgument("max_angle", default_value="135.0"), DeclareLaunchArgument('max_range', default_value='30.0'),
DeclareLaunchArgument("min_range", default_value="0.05"), DeclareLaunchArgument('echo_mode', default_value='single channel'),
DeclareLaunchArgument("max_range", default_value="30.0"), DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument("echo_mode", default_value="single channel"), DeclareLaunchArgument('enumerate_net_device', default_value='true'),
DeclareLaunchArgument("point_cloud_qos", default_value="default"), DeclareLaunchArgument('net_device_ip', default_value=''),
DeclareLaunchArgument("enumerate_net_device", default_value="true"), DeclareLaunchArgument('net_device_port', default_value='0'),
DeclareLaunchArgument("net_device_ip", default_value=""), DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument("net_device_port", default_value="0"), DeclareLaunchArgument('time_domain', default_value='device'),# global, device, system
DeclareLaunchArgument("log_level", default_value="none"), DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument( DeclareLaunchArgument('enable_heartbeat', default_value='false'),
"time_domain", default_value="device"
), # global, device, system
DeclareLaunchArgument("config_file_path", default_value=""),
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
] ]
def get_params(context, args): def get_params(context, args):
@@ -100,30 +94,29 @@ def generate_launch_description():
] ]
else: else:
return [ return [
GroupAction( GroupAction([
[ PushRosNamespace(LaunchConfiguration("camera_name")),
PushRosNamespace(LaunchConfiguration("camera_name")), ComposableNodeContainer(
ComposableNodeContainer( name="camera_container",
name="camera_container", namespace="",
namespace="", package="rclcpp_components",
package="rclcpp_components", executable="component_container",
executable="component_container", composable_node_descriptions=[
composable_node_descriptions=[ ComposableNode(
ComposableNode( package="orbbec_camera",
package="orbbec_camera", plugin="orbbec_camera::OBCameraNodeDriver",
plugin="orbbec_camera::OBCameraNodeDriver", name=LaunchConfiguration("camera_name"),
name=LaunchConfiguration("camera_name"), parameters=params,
parameters=params, ),
), ],
], # prefix=["xterm -e gdb -ex run --args"],
# prefix=["xterm -e gdb -ex run --args"], output="screen",
output="screen", )
), ])
]
)
] ]
return LaunchDescription( return LaunchDescription(
args args + [
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))] OpaqueFunction(function=lambda context: create_node_action(context, args))
]
) )