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jj
2024-09-23 20:22:23 +08:00
parent 8b6bdfcd5d
commit bbed84961a
42 changed files with 909 additions and 385 deletions
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orbbec_camera/launch/astra_adv.launch.py
+62 -60
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@@ -12,66 +12,68 @@ import os
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_format', default_value='RGB'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', default_value='false'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='480'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='480'),
DeclareLaunchArgument('ir_fps', default_value='30'),
DeclareLaunchArgument('ir_format', default_value='Y16'),
DeclareLaunchArgument('enable_ir', default_value='true'),
DeclareLaunchArgument('flip_ir', default_value='false'),
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('ir_info_url', default_value=''),
DeclareLaunchArgument('color_info_url', default_value=''),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument("camera_name", default_value="camera"),
DeclareLaunchArgument("depth_registration", default_value="false"),
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("vendor_id", default_value="0x2bc5"),
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("cloud_frame_id", default_value=""),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_width", default_value="640"),
DeclareLaunchArgument("color_height", default_value="480"),
DeclareLaunchArgument("color_fps", default_value="30"),
DeclareLaunchArgument("color_format", default_value="RGB"),
DeclareLaunchArgument("enable_color", default_value="true"),
DeclareLaunchArgument("flip_color", default_value="false"),
DeclareLaunchArgument("color_qos", default_value="default"),
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
DeclareLaunchArgument("color_exposure", default_value="-1"),
DeclareLaunchArgument("color_gain", default_value="-1"),
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
DeclareLaunchArgument("color_white_balance", default_value="-1"),
DeclareLaunchArgument("depth_width", default_value="640"),
DeclareLaunchArgument("depth_height", default_value="480"),
DeclareLaunchArgument("depth_fps", default_value="30"),
DeclareLaunchArgument("depth_format", default_value="Y16"),
DeclareLaunchArgument("enable_depth", default_value="true"),
DeclareLaunchArgument("flip_depth", default_value="false"),
DeclareLaunchArgument("depth_qos", default_value="default"),
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
DeclareLaunchArgument("ir_width", default_value="640"),
DeclareLaunchArgument("ir_height", default_value="480"),
DeclareLaunchArgument("ir_fps", default_value="30"),
DeclareLaunchArgument("ir_format", default_value="Y16"),
DeclareLaunchArgument("enable_ir", default_value="true"),
DeclareLaunchArgument("flip_ir", default_value="false"),
DeclareLaunchArgument("ir_qos", default_value="default"),
DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
DeclareLaunchArgument("ir_exposure", default_value="-1"),
DeclareLaunchArgument("ir_gain", default_value="-1"),
DeclareLaunchArgument("publish_tf", default_value="true"),
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
DeclareLaunchArgument("ir_info_url", default_value=""),
DeclareLaunchArgument("color_info_url", default_value=""),
DeclareLaunchArgument("log_level", default_value="none"),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("enable_soft_filter", default_value="true"),
DeclareLaunchArgument("soft_filter_max_diff", default_value="-1"),
DeclareLaunchArgument("soft_filter_speckle_size", default_value="-1"),
DeclareLaunchArgument("ordered_pc", default_value="false"),
DeclareLaunchArgument("use_hardware_time", default_value="false"),
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
DeclareLaunchArgument("align_mode", default_value="HW"),
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
]
# Node configuration