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add py launch file

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This commit is contained in:
Joe Dong
2023-08-23 10:53:34 +08:00
parent 726435771c
commit bb51e34ed3
2 changed files with 36 additions and 46 deletions
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orbbec_camera/launch/multi_camera.launch.py
+17 -35
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@@ -1,21 +1,12 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
from launch.substitutions import LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os
def generate_launch_description():
# Declare arguments
camera_name = DeclareLaunchArgument('camera_name', default_value='camera')
d_sensor = DeclareLaunchArgument('3d_sensor', default_value='gemini2')
camera1_prefix = DeclareLaunchArgument('camera1_prefix', default_value='01')
camera2_prefix = DeclareLaunchArgument('camera2_prefix', default_value='02')
camera1_usb_port = DeclareLaunchArgument('camera1_usb_port', default_value='2-3.3')
camera2_usb_port = DeclareLaunchArgument('camera2_usb_port', default_value='1-4.4')
device_num = DeclareLaunchArgument('device_num', default_value='2')
# Node configuration
cleanup_node = Node(
package='orbbec_camera',
@@ -25,46 +16,37 @@ def generate_launch_description():
)
# Include launch files
launch_file_dir = FindPackageShare('orbbec_camera').find('orbbec_camera') + '/launch'
package_dir = get_package_share_directory('orbbec_camera')
launch_file_dir = os.path.join(package_dir, 'launch')
launch1_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')),
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini2.launch.py')
),
launch_arguments={
'camera_name': 'camera_' + LaunchConfiguration('camera1_prefix'),
'usb_port': LaunchConfiguration('camera1_usb_port'),
'device_num': LaunchConfiguration('device_num')
'camera_name': 'camera_01',
'usb_port': '6-2.4.4.2',
'device_num': '2'
}.items()
)
launch2_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')),
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini2.launch.py')
),
launch_arguments={
'camera_name': 'camera_' + LaunchConfiguration('camera2_prefix'),
'usb_port': LaunchConfiguration('camera2_usb_port'),
'device_num': LaunchConfiguration('device_num')
'camera_name': 'camera_02',
'usb_port': '6-2.4.1',
'device_num': '2'
}.items()
)
# Static TF publisher
tf_publisher = Node(
package='tf2_ros',
executable='static_transform_publisher',
name='camera_tf',
arguments=['0', '0', '0', '0', '0', '0', 'camera01_link', 'camera02_link']
)
# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
# Launch description
ld = LaunchDescription([
camera_name,
d_sensor,
camera1_prefix,
camera2_prefix,
camera1_usb_port,
camera2_usb_port,
device_num,
cleanup_node,
GroupAction([launch1_include]),
GroupAction([launch2_include]),
tf_publisher
])
return ld
orbbec_camera/src/list_devices_node.cpp
+19 -11
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@@ -4,17 +4,25 @@
#include <orbbec_camera/utils.h>
int main() {
auto context = std::make_unique<ob::Context>();
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
auto list = context->queryDeviceList();
for (size_t i = 0; i < list->deviceCount(); i++) {
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
std::string serial = device_info->serialNumber();
std::string uid = device_info->uid();
auto usb_port = orbbec_camera::parseUsbPort(uid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
try {
auto context = std::make_unique<ob::Context>();
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
auto list = context->queryDeviceList();
for (size_t i = 0; i < list->deviceCount(); i++) {
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
std::string serial = device_info->serialNumber();
std::string uid = device_info->uid();
auto usb_port = orbbec_camera::parseUsbPort(uid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
}
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.what());
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.getMessage());
} catch (...) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), "unknown error");
}
return 0;
}