From bc63c93c2759d82b9f6eb1f2abc2444b1a7116c9 Mon Sep 17 00:00:00 2001 From: jj Date: Mon, 21 Oct 2024 14:52:46 +0800 Subject: [PATCH] Change the camera support launch --- orbbec_camera/launch/astra.launch.py | 126 -------------- orbbec_camera/launch/astra_adv.launch.py | 126 -------------- .../launch/astra_embedded_s.launch.py | 126 -------------- orbbec_camera/launch/astra_pro2.launch.py | 126 -------------- .../launch/astra_stereo_u3.launch.py | 126 -------------- orbbec_camera/launch/dabai.launch.py | 126 -------------- orbbec_camera/launch/dabai_d1.launch.py | 110 ------------ orbbec_camera/launch/dabai_dcl.py | 147 ---------------- orbbec_camera/launch/dabai_dcw.launch.py | 126 -------------- orbbec_camera/launch/dabai_dcw2.launch.py | 127 -------------- orbbec_camera/launch/dabai_dw.launch.py | 109 ------------ orbbec_camera/launch/dabai_dw2.launch.py | 109 ------------ orbbec_camera/launch/dabai_max.launch.py | 111 ------------- orbbec_camera/launch/dabai_max_pro.launch.py | 127 -------------- orbbec_camera/launch/dabai_pro.launch.py | 109 ------------ orbbec_camera/launch/deeya.launch.py | 124 -------------- orbbec_camera/launch/gemini2VL.launch.py | 141 ---------------- orbbec_camera/launch/gemini2XL.launch.py | 157 ------------------ orbbec_camera/launch/gemini_e.launch.py | 125 -------------- orbbec_camera/launch/gemini_e_lite.launch.py | 110 ------------ orbbec_camera/launch/gemini_ew.launch.py | 126 -------------- orbbec_camera/launch/gemini_ew_lite.launch.py | 113 ------------- orbbec_camera/launch/gemini_uw.launch.py | 127 -------------- ...i_camera_synced_multi_save_rgbir.launch.py | 108 ------------ 24 files changed, 2962 deletions(-) delete mode 100644 orbbec_camera/launch/astra.launch.py delete mode 100644 orbbec_camera/launch/astra_adv.launch.py delete mode 100644 orbbec_camera/launch/astra_embedded_s.launch.py delete mode 100644 orbbec_camera/launch/astra_pro2.launch.py delete mode 100644 orbbec_camera/launch/astra_stereo_u3.launch.py delete mode 100644 orbbec_camera/launch/dabai.launch.py delete mode 100644 orbbec_camera/launch/dabai_d1.launch.py delete mode 100644 orbbec_camera/launch/dabai_dcl.py delete mode 100644 orbbec_camera/launch/dabai_dcw.launch.py delete mode 100644 orbbec_camera/launch/dabai_dcw2.launch.py delete mode 100644 orbbec_camera/launch/dabai_dw.launch.py delete mode 100644 orbbec_camera/launch/dabai_dw2.launch.py delete mode 100644 orbbec_camera/launch/dabai_max.launch.py delete mode 100644 orbbec_camera/launch/dabai_max_pro.launch.py delete mode 100644 orbbec_camera/launch/dabai_pro.launch.py delete mode 100644 orbbec_camera/launch/deeya.launch.py delete mode 100644 orbbec_camera/launch/gemini2VL.launch.py delete mode 100644 orbbec_camera/launch/gemini2XL.launch.py delete mode 100644 orbbec_camera/launch/gemini_e.launch.py delete mode 100644 orbbec_camera/launch/gemini_e_lite.launch.py delete mode 100644 orbbec_camera/launch/gemini_ew.launch.py delete mode 100644 orbbec_camera/launch/gemini_ew_lite.launch.py delete mode 100644 orbbec_camera/launch/gemini_uw.launch.py delete mode 100644 orbbec_camera/launch/multi_camera_synced_multi_save_rgbir.launch.py diff --git a/orbbec_camera/launch/astra.launch.py b/orbbec_camera/launch/astra.launch.py deleted file mode 100644 index d57338ee..00000000 --- a/orbbec_camera/launch/astra.launch.py +++ /dev/null @@ -1,126 +0,0 @@ -import os -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.actions import GroupAction -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer -from launch_ros.actions import Node -from launch_ros.actions import PushRosNamespace -from launch_ros.descriptions import ComposableNode - - -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('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='10'), - 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='10'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/astra_adv.launch.py b/orbbec_camera/launch/astra_adv.launch.py deleted file mode 100644 index 2d658075..00000000 --- a/orbbec_camera/launch/astra_adv.launch.py +++ /dev/null @@ -1,126 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('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_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 - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/astra_embedded_s.launch.py b/orbbec_camera/launch/astra_embedded_s.launch.py deleted file mode 100644 index de8235c8..00000000 --- a/orbbec_camera/launch/astra_embedded_s.launch.py +++ /dev/null @@ -1,126 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('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='400'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='400'), - DeclareLaunchArgument('ir_fps', default_value='30'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/astra_pro2.launch.py b/orbbec_camera/launch/astra_pro2.launch.py deleted file mode 100644 index 573c7996..00000000 --- a/orbbec_camera/launch/astra_pro2.launch.py +++ /dev/null @@ -1,126 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -import os - - -def generate_launch_description(): - # Declare arguments - args = [ - DeclareLaunchArgument('camera_name', default_value='camera'), - DeclareLaunchArgument('depth_registration', default_value='true'), - 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='false'), - DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'), - 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='10'), - DeclareLaunchArgument('color_format', default_value='UYVY'), - 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='10'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/astra_stereo_u3.launch.py b/orbbec_camera/launch/astra_stereo_u3.launch.py deleted file mode 100644 index 43d781ae..00000000 --- a/orbbec_camera/launch/astra_stereo_u3.launch.py +++ /dev/null @@ -1,126 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('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='MJPG'), - 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='400'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='400'), - DeclareLaunchArgument('ir_fps', default_value='30'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai.launch.py b/orbbec_camera/launch/dabai.launch.py deleted file mode 100644 index 2656d584..00000000 --- a/orbbec_camera/launch/dabai.launch.py +++ /dev/null @@ -1,126 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - 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='MJPG'), - 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='400'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='400'), - DeclareLaunchArgument('ir_fps', default_value='30'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai_d1.launch.py b/orbbec_camera/launch/dabai_d1.launch.py deleted file mode 100644 index 3f87875a..00000000 --- a/orbbec_camera/launch/dabai_d1.launch.py +++ /dev/null @@ -1,110 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -import os - - -def generate_launch_description(): - # Declare arguments - args = [ - DeclareLaunchArgument('camera_name', default_value='camera'), - 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('cloud_frame_id', default_value=''), - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('connection_delay', default_value='100'), - DeclareLaunchArgument('depth_width', default_value='640'), - DeclareLaunchArgument('depth_height', default_value='400'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='400'), - DeclareLaunchArgument('ir_fps', default_value='30'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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_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 - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai_dcl.py b/orbbec_camera/launch/dabai_dcl.py deleted file mode 100644 index c977bd86..00000000 --- a/orbbec_camera/launch/dabai_dcl.py +++ /dev/null @@ -1,147 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'), - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('connection_delay', default_value='100'), - DeclareLaunchArgument('color_width', default_value='640'), - DeclareLaunchArgument('color_height', default_value='360'), - DeclareLaunchArgument('color_fps', default_value='15'), - DeclareLaunchArgument('color_format', default_value='MJPG'), - 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='400'), - DeclareLaunchArgument('depth_fps', default_value='15'), - DeclareLaunchArgument('depth_format', default_value='Y14'), - 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='400'), - DeclareLaunchArgument('ir_fps', default_value='15'), - DeclareLaunchArgument('ir_format', default_value='Y8'), - 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('enable_sync_output_accel_gyro', default_value='true'), - DeclareLaunchArgument('enable_accel', default_value='false'), - DeclareLaunchArgument('accel_rate', default_value='100hz'), - DeclareLaunchArgument('accel_range', default_value='4g'), - DeclareLaunchArgument('enable_gyro', default_value='false'), - DeclareLaunchArgument('gyro_rate', default_value='100hz'), - DeclareLaunchArgument('gyro_range', default_value='500dps'), - DeclareLaunchArgument('liner_accel_cov', default_value='0.01'), - DeclareLaunchArgument('angular_vel_cov', default_value='0.01'), - 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'), - # Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json - DeclareLaunchArgument('depth_filter_config', default_value=''), - # Depth work mode support is as follows: - # Unbinned Dense Default - # Unbinned Sparse Default - # Binned Sparse Default - # Obstacle Avoidance - DeclareLaunchArgument('depth_work_mode', default_value=''), - DeclareLaunchArgument('sync_mode', default_value='standalone'), - DeclareLaunchArgument('depth_delay_us', default_value='0'), - DeclareLaunchArgument('color_delay_us', default_value='0'), - DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_enabled', default_value='false'), - DeclareLaunchArgument('enable_frame_sync', default_value='true'), - DeclareLaunchArgument('ordered_pc', default_value='false'), - DeclareLaunchArgument('use_hardware_time', default_value='true'), - 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 - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai_dcw.launch.py b/orbbec_camera/launch/dabai_dcw.launch.py deleted file mode 100644 index 15a6b49f..00000000 --- a/orbbec_camera/launch/dabai_dcw.launch.py +++ /dev/null @@ -1,126 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - 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='360'), - DeclareLaunchArgument('color_fps', default_value='10'), - DeclareLaunchArgument('color_format', default_value='MJPG'), - 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='360'), - DeclareLaunchArgument('depth_fps', default_value='10'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - DeclareLaunchArgument('enable_ir', default_value='false'), - 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'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai_dcw2.launch.py b/orbbec_camera/launch/dabai_dcw2.launch.py deleted file mode 100644 index 7355d5e2..00000000 --- a/orbbec_camera/launch/dabai_dcw2.launch.py +++ /dev/null @@ -1,127 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - 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='10'), - DeclareLaunchArgument('color_format', default_value='MJPG'), - 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='400'), - DeclareLaunchArgument('depth_fps', default_value='10'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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'), - # /config/depthfilter/Openni_device.json，need config path. - DeclareLaunchArgument('depth_filter_config', default_value=''), - DeclareLaunchArgument('ir_width', default_value='640'), - DeclareLaunchArgument('ir_height', default_value='400'), - DeclareLaunchArgument('ir_fps', default_value='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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_soft_filter', default_value='true'), - DeclareLaunchArgument('enable_ldp', 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 - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai_dw.launch.py b/orbbec_camera/launch/dabai_dw.launch.py deleted file mode 100644 index 1f7f40b8..00000000 --- a/orbbec_camera/launch/dabai_dw.launch.py +++ /dev/null @@ -1,109 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -import os - - -def generate_launch_description(): - # Declare arguments - args = [ - DeclareLaunchArgument('camera_name', default_value='camera'), - 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('cloud_frame_id', default_value=''), - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('connection_delay', default_value='100'), - DeclareLaunchArgument('depth_width', default_value='640'), - DeclareLaunchArgument('depth_height', default_value='480'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='Y10'), - 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_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('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai_dw2.launch.py b/orbbec_camera/launch/dabai_dw2.launch.py deleted file mode 100644 index 44b7bd8e..00000000 --- a/orbbec_camera/launch/dabai_dw2.launch.py +++ /dev/null @@ -1,109 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -import os - - -def generate_launch_description(): - # Declare arguments - args = [ - DeclareLaunchArgument('camera_name', default_value='camera'), - 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('cloud_frame_id', default_value=''), - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('connection_delay', default_value='100'), - DeclareLaunchArgument('depth_width', default_value='640'), - DeclareLaunchArgument('depth_height', default_value='480'), - DeclareLaunchArgument('depth_fps', default_value='10'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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_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('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai_max.launch.py b/orbbec_camera/launch/dabai_max.launch.py deleted file mode 100644 index 6f89fa53..00000000 --- a/orbbec_camera/launch/dabai_max.launch.py +++ /dev/null @@ -1,111 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -import os - - -def generate_launch_description(): - # Declare arguments - args = [ - DeclareLaunchArgument('camera_name', default_value='camera'), - 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('cloud_frame_id', default_value=''), - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('connection_delay', default_value='100'), - DeclareLaunchArgument('depth_width', default_value='640'), - DeclareLaunchArgument('depth_height', default_value='320'), - DeclareLaunchArgument('depth_fps', default_value='10'), - DeclareLaunchArgument('depth_format', default_value='Y12'), - 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'), - # /config/depthfilter/Openni_device.json，need config path. - DeclareLaunchArgument('depth_filter_config', default_value=''), - DeclareLaunchArgument('ir_width', default_value='640'), - DeclareLaunchArgument('ir_height', default_value='400'), - DeclareLaunchArgument('ir_fps', default_value='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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_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('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai_max_pro.launch.py b/orbbec_camera/launch/dabai_max_pro.launch.py deleted file mode 100644 index 6b0f1e95..00000000 --- a/orbbec_camera/launch/dabai_max_pro.launch.py +++ /dev/null @@ -1,127 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - 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='25'), - DeclareLaunchArgument('color_format', default_value='MJPG'), - 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='400'), - DeclareLaunchArgument('depth_fps', default_value='10'), - DeclareLaunchArgument('depth_format', default_value='Y12'), - 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'), - # /config/depthfilter/Openni_device.json，need config path. - DeclareLaunchArgument('depth_filter_config', default_value=''), - DeclareLaunchArgument('ir_width', default_value='640'), - DeclareLaunchArgument('ir_height', default_value='400'), - DeclareLaunchArgument('ir_fps', default_value='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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('enable_ir_long_exposure', default_value='false'), - 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_soft_filter', 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('use_hardware_time', default_value='false'), - DeclareLaunchArgument('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/dabai_pro.launch.py b/orbbec_camera/launch/dabai_pro.launch.py deleted file mode 100644 index ebddc802..00000000 --- a/orbbec_camera/launch/dabai_pro.launch.py +++ /dev/null @@ -1,109 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -import os - - -def generate_launch_description(): - # Declare arguments - args = [ - DeclareLaunchArgument('camera_name', default_value='camera'), - 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('cloud_frame_id', default_value=''), - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('connection_delay', default_value='100'), - DeclareLaunchArgument('depth_width', default_value='640'), - DeclareLaunchArgument('depth_height', default_value='400'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='400'), - DeclareLaunchArgument('ir_fps', default_value='30'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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_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('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/deeya.launch.py b/orbbec_camera/launch/deeya.launch.py deleted file mode 100644 index f74dad39..00000000 --- a/orbbec_camera/launch/deeya.launch.py +++ /dev/null @@ -1,124 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - 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('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='400'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='400'), - DeclareLaunchArgument('ir_fps', default_value='30'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/gemini2VL.launch.py b/orbbec_camera/launch/gemini2VL.launch.py deleted file mode 100644 index e9577ca7..00000000 --- a/orbbec_camera/launch/gemini2VL.launch.py +++ /dev/null @@ -1,141 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('cloud_frame_id', default_value=''), - DeclareLaunchArgument('connection_delay', default_value='100'), - DeclareLaunchArgument('color_width', default_value='1280'), - DeclareLaunchArgument('color_height', default_value='800'), - DeclareLaunchArgument('color_fps', default_value='10'), - DeclareLaunchArgument('color_format', default_value='MJPG'), - 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('left_ir_width', default_value='1280'), - DeclareLaunchArgument('left_ir_height', default_value='800'), - DeclareLaunchArgument('left_ir_fps', default_value='10'), - DeclareLaunchArgument('left_ir_format', default_value='Y8'), - DeclareLaunchArgument('enable_left_ir', default_value='true'), - DeclareLaunchArgument('flip_left_ir', default_value='false'), - DeclareLaunchArgument('left_ir_qos', default_value='default'), - DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), - DeclareLaunchArgument('right_ir_width', default_value='1280'), - DeclareLaunchArgument('right_ir_height', default_value='800'), - DeclareLaunchArgument('right_ir_fps', default_value='10'), - DeclareLaunchArgument('right_ir_format', default_value='Y8'), - DeclareLaunchArgument('enable_right_ir', default_value='true'), - DeclareLaunchArgument('flip_right_ir', default_value='false'), - DeclareLaunchArgument('right_ir_qos', default_value='default'), - DeclareLaunchArgument('right_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('enable_sync_output_accel_gyro', default_value='true'), - DeclareLaunchArgument('enable_accel', default_value='true'), - DeclareLaunchArgument('accel_rate', default_value='100hz'), - DeclareLaunchArgument('accel_range', default_value='4g'), - DeclareLaunchArgument('enable_gyro', default_value='true'), - DeclareLaunchArgument('gyro_rate', default_value='1KHZ'), - DeclareLaunchArgument('gyro_range', default_value='500dps'), - DeclareLaunchArgument('liner_accel_cov', default_value='0.01'), - DeclareLaunchArgument('angular_vel_cov', default_value='0.01'), - 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('sync_mode', default_value='standalone'), - DeclareLaunchArgument('depth_delay_us', default_value='0'), - DeclareLaunchArgument('color_delay_us', default_value='0'), - DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_enabled', default_value='false'), - DeclareLaunchArgument('enable_frame_sync', default_value='true'), - DeclareLaunchArgument('ordered_pc', default_value='false'), - DeclareLaunchArgument('use_hardware_time', default_value='true'), - DeclareLaunchArgument('enable_depth_scale', default_value='true'), - DeclareLaunchArgument('align_mode', default_value='HW'), - DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/gemini2XL.launch.py b/orbbec_camera/launch/gemini2XL.launch.py deleted file mode 100644 index 220be223..00000000 --- a/orbbec_camera/launch/gemini2XL.launch.py +++ /dev/null @@ -1,157 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - 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='400'), - DeclareLaunchArgument('color_fps', default_value='10'), - DeclareLaunchArgument('color_format', default_value='MJPG'), - 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='400'), - DeclareLaunchArgument('depth_fps', default_value='10'), - 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('left_ir_width', default_value='640'), - DeclareLaunchArgument('left_ir_height', default_value='400'), - DeclareLaunchArgument('left_ir_fps', default_value='10'), - DeclareLaunchArgument('left_ir_format', default_value='Y8'), - DeclareLaunchArgument('enable_left_ir', default_value='true'), - DeclareLaunchArgument('flip_left_ir', default_value='false'), - DeclareLaunchArgument('left_ir_qos', default_value='default'), - DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), - DeclareLaunchArgument('right_ir_width', default_value='640'), - DeclareLaunchArgument('right_ir_height', default_value='400'), - DeclareLaunchArgument('right_ir_fps', default_value='10'), - DeclareLaunchArgument('right_ir_format', default_value='Y8'), - DeclareLaunchArgument('enable_right_ir', default_value='true'), - DeclareLaunchArgument('flip_right_ir', default_value='false'), - DeclareLaunchArgument('right_ir_qos', default_value='default'), - DeclareLaunchArgument('right_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('enable_sync_output_accel_gyro', default_value='true'), - DeclareLaunchArgument('enable_accel', default_value='false'), - DeclareLaunchArgument('accel_rate', default_value='100hz'), - DeclareLaunchArgument('accel_range', default_value='4g'), - DeclareLaunchArgument('enable_gyro', default_value='false'), - DeclareLaunchArgument('gyro_rate', default_value='100hz'), - DeclareLaunchArgument('gyro_range', default_value='1000dps'), - DeclareLaunchArgument('liner_accel_cov', default_value='0.01'), - DeclareLaunchArgument('angular_vel_cov', default_value='0.01'), - 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('enumerate_net_device', default_value='false'), - 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'), - # Depth work mode support is as follows: - # Unbinned Dense Default - # Unbinned Sparse Default - # Binned Sparse Default - # Dimensioning - DeclareLaunchArgument('depth_work_mode', default_value=''), - DeclareLaunchArgument('sync_mode', default_value='standalone'), - DeclareLaunchArgument('depth_delay_us', default_value='0'), - DeclareLaunchArgument('color_delay_us', default_value='0'), - DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_delay_us', default_value='0'), - DeclareLaunchArgument('trigger_out_enabled', default_value='false'), - DeclareLaunchArgument('enable_frame_sync', default_value='true'), - DeclareLaunchArgument('ordered_pc', default_value='false'), - DeclareLaunchArgument('use_hardware_time', default_value='true'), - DeclareLaunchArgument('enable_depth_scale', default_value='true'), - DeclareLaunchArgument('align_mode', default_value='HW'), - DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/gemini_e.launch.py b/orbbec_camera/launch/gemini_e.launch.py deleted file mode 100644 index fc1508f7..00000000 --- a/orbbec_camera/launch/gemini_e.launch.py +++ /dev/null @@ -1,125 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - 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='360'), - DeclareLaunchArgument('color_fps', default_value='30'), - DeclareLaunchArgument('color_format', default_value='MJPG'), - 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='360'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='Y10'), - 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('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/gemini_e_lite.launch.py b/orbbec_camera/launch/gemini_e_lite.launch.py deleted file mode 100644 index eefa22df..00000000 --- a/orbbec_camera/launch/gemini_e_lite.launch.py +++ /dev/null @@ -1,110 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -import os - - -def generate_launch_description(): - # Declare arguments - args = [ - DeclareLaunchArgument('camera_name', default_value='camera'), - 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('cloud_frame_id', default_value=''), - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('connection_delay', default_value='100'), - DeclareLaunchArgument('depth_width', default_value='640'), - DeclareLaunchArgument('depth_height', default_value='360'), - DeclareLaunchArgument('depth_fps', default_value='30'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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='Y10'), - 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('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/gemini_ew.launch.py b/orbbec_camera/launch/gemini_ew.launch.py deleted file mode 100644 index 3c02f093..00000000 --- a/orbbec_camera/launch/gemini_ew.launch.py +++ /dev/null @@ -1,126 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - 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='10'), - DeclareLaunchArgument('color_format', default_value='MJPG'), - 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='400'), - DeclareLaunchArgument('depth_fps', default_value='10'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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'), - # /config/depthfilter/Openni_device.json，need config path. - DeclareLaunchArgument('depth_filter_config', default_value=''), - DeclareLaunchArgument('ir_width', default_value='640'), - DeclareLaunchArgument('ir_height', default_value='400'), - DeclareLaunchArgument('ir_fps', default_value='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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_soft_filter', default_value='true'), - DeclareLaunchArgument('enable_ldp', 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('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/gemini_ew_lite.launch.py b/orbbec_camera/launch/gemini_ew_lite.launch.py deleted file mode 100644 index 622aea17..00000000 --- a/orbbec_camera/launch/gemini_ew_lite.launch.py +++ /dev/null @@ -1,113 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -import os - - -def generate_launch_description(): - # Declare arguments - args = [ - DeclareLaunchArgument('camera_name', default_value='camera'), - 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('cloud_frame_id', default_value=''), - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('connection_delay', default_value='100'), - DeclareLaunchArgument('depth_width', default_value='640'), - DeclareLaunchArgument('depth_height', default_value='400'), - DeclareLaunchArgument('depth_fps', default_value='10'), - DeclareLaunchArgument('depth_format', default_value='Y11'), - 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'), - # /config/depthfilter/Openni_device.json，need config path. - DeclareLaunchArgument('depth_filter_config', default_value=''), - DeclareLaunchArgument('ir_width', default_value='640'), - DeclareLaunchArgument('ir_height', default_value='400'), - DeclareLaunchArgument('ir_fps', default_value='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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_soft_filter', 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('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/gemini_uw.launch.py b/orbbec_camera/launch/gemini_uw.launch.py deleted file mode 100644 index 6b0f1e95..00000000 --- a/orbbec_camera/launch/gemini_uw.launch.py +++ /dev/null @@ -1,127 +0,0 @@ -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace -from launch.actions import GroupAction -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -from launch_ros.actions import Node -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('cloud_frame_id', default_value=''), - 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='25'), - DeclareLaunchArgument('color_format', default_value='MJPG'), - 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='400'), - DeclareLaunchArgument('depth_fps', default_value='10'), - DeclareLaunchArgument('depth_format', default_value='Y12'), - 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'), - # /config/depthfilter/Openni_device.json，need config path. - DeclareLaunchArgument('depth_filter_config', default_value=''), - DeclareLaunchArgument('ir_width', default_value='640'), - DeclareLaunchArgument('ir_height', default_value='400'), - DeclareLaunchArgument('ir_fps', default_value='10'), - DeclareLaunchArgument('ir_format', default_value='Y10'), - 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('enable_ir_long_exposure', default_value='false'), - 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_soft_filter', 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('use_hardware_time', default_value='false'), - DeclareLaunchArgument('align_mode', default_value='HW'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - ] - - # Node configuration - parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args] - # get ROS_DISTRO - ros_distro = os.environ["ROS_DISTRO"] - if ros_distro == "foxy": - return LaunchDescription( - args - + [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=parameters, - output="screen", - ) - ] - ) - # Define the ComposableNode - else: - # Define the ComposableNode - compose_node = ComposableNode( - package="orbbec_camera", - plugin="orbbec_camera::OBCameraNodeDriver", - name=LaunchConfiguration("camera_name"), - namespace="", - parameters=parameters, - ) - # Define the ComposableNodeContainer - container = ComposableNodeContainer( - name="camera_container", - namespace="", - package="rclcpp_components", - executable="component_container", - composable_node_descriptions=[ - compose_node, - ], - output="screen", - ) - # Launch description - ld = LaunchDescription( - args - + [ - GroupAction( - [PushRosNamespace(LaunchConfiguration("camera_name")), container] - ) - ] - ) - return ld diff --git a/orbbec_camera/launch/multi_camera_synced_multi_save_rgbir.launch.py b/orbbec_camera/launch/multi_camera_synced_multi_save_rgbir.launch.py deleted file mode 100644 index 00b93587..00000000 --- a/orbbec_camera/launch/multi_camera_synced_multi_save_rgbir.launch.py +++ /dev/null @@ -1,108 +0,0 @@ -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 IncludeLaunchDescription, GroupAction, TimerAction -from launch.launch_description_sources import PythonLaunchDescriptionSource - -def generate_launch_description(): - # Include launch files - package_dir = get_package_share_directory("orbbec_camera") - launch_file_dir = os.path.join(package_dir, "launch") - config_file_dir = os.path.join(package_dir, "config") - config_file_path = os.path.join(config_file_dir, "camera_params.yaml") - front_camera = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_series.launch.py") - ), - launch_arguments={ - "camera_name": "front_camera", - "usb_port": "2-7", - "device_num": "2", - "sync_mode": "software_triggering", - "enable_left_ir":"true", - }.items(), - ) - # left_camera = IncludeLaunchDescription( - # PythonLaunchDescriptionSource( - # os.path.join(launch_file_dir, "gemini_330_series.launch.py") - # ), - # launch_arguments={ - # "camera_name": "left_camera", - # "usb_port": "gmsl2-2", - # "device_num": "3", - # "sync_mode": "secondary", - # "config_file_path": config_file_path, - # "enable_gmsl_trigger": "false", - # }.items(), - # ) - right_camera = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_series.launch.py") - ), - launch_arguments={ - "camera_name": "right_camera", - "usb_port": "2-6", - "device_num": "2", - "sync_mode": "hardware_triggering", - "enable_left_ir":"true", - }.items(), - ) - # rear_camera = IncludeLaunchDescription( - # PythonLaunchDescriptionSource( - # os.path.join(launch_file_dir, "gemini_330_series.launch.py") - # ), - # launch_arguments={ - # "camera_name": "rear_camera", - # "usb_port": "gmsl2-4", - # "device_num": "3", - # "sync_mode": "secondary", - # "config_file_path": config_file_path, - # "enable_gmsl_trigger": "false", - # }.items(), - # ) - - multi_save_rgbir_node = Node( - package="orbbec_camera", - executable="multi_save_rgbir_node", - name="multi_save_rgbir_node", - parameters=[ - { - # The port number should be filled in according to the order of the port numbers above. - # "usb_ports": ["gmsl2-1","gmsl2-2","gmsl2-3"], - "image_number": "20", - "usb_ports": ["2-7","2-6"], - "ir_topics": [ - "/front_camera/left_ir/image_raw", - # "/left_camera/left_ir/image_raw", - "/right_camera/left_ir/image_raw", - # "/rear_camera/left_ir/image_raw", - ], - "color_topics": [ - "/front_camera/color/image_raw", - # "/left_camera/color/image_raw", - "/right_camera/color/image_raw", - # "/rear_camera/color/image_raw", - ], - } - ], - ) - - # Launch description - ld = LaunchDescription( - [ - GroupAction([multi_save_rgbir_node]), - TimerAction( - period=0.5, - actions=[ - # TimerAction(period=0.5, actions=[GroupAction([rear_camera])]), - TimerAction(period=0.5, actions=[GroupAction([right_camera])]), - # TimerAction(period=0.5, actions=[GroupAction([left_camera])]), - TimerAction(period=1.0, actions=[GroupAction([front_camera])]), - # The primary camera should be launched at last - ], - ), - ] - ) - - return ld