Add image transport plugin selection for images

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -1,5 +1,5 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import PushRosNamespace
 from launch.actions import GroupAction
@@ -7,7 +7,48 @@ from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
 from launch_ros.actions import Node
 import os
+import yaml
 
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == 'true':
+            return True
+        elif value.lower() == 'false':
+            return False
+    return value
+
+def load_parameters(context, args):
+    default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
+    skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
+    result = {}
+    for key, value in default_params.items():
+        if key in skip_convert:
+            result[key] = value
+        elif 'enable_pub_plugins' in key:
+            if isinstance(value, str):
+                if value.startswith('[') and value.endswith(']'):
+                    try:
+                        result[key] = yaml.safe_load(value)
+                    except:
+                        result[key] = [value]
+                else:
+                    result[key] = [value]
+            elif isinstance(value, list):
+                result[key] = value
+            else:
+                result[key] = [str(value)]
+        else:
+            result[key] = convert_value(value)
+
+    return result
 
 def generate_launch_description():
     # Declare arguments
@@ -82,54 +123,56 @@ def generate_launch_description():
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('industry_mode', default_value=''),
+
+        #color image transport plugins
+        DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
+        #depth image transport plugins
+        DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw"]'),
+        #ir image transport plugins
+        DeclareLaunchArgument('ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
     ]
 
-    # Node configuration
+    def get_params(context, args):
-    parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
+        return [load_parameters(context, args)]
-    # get  ROS_DISTRO
+
-    ros_distro = os.environ["ROS_DISTRO"]
+    def create_node_action(context, args):
-    if ros_distro == "foxy":
+        params = get_params(context, args)
-        return LaunchDescription(
+        ros_distro = os.environ.get("ROS_DISTRO", "humble")
-            args
+        if ros_distro == "foxy":
-            + [
+            return [
                 Node(
                     package="orbbec_camera",
                     executable="orbbec_camera_node",
                     name="ob_camera_node",
                     namespace=LaunchConfiguration("camera_name"),
-                    parameters=parameters,
+                    parameters=params,
                     output="screen",
                 )
             ]
-        )
+        else:
-    # Define the ComposableNode
+            return [
-    else:
+                GroupAction([
-        # Define the ComposableNode
+                    PushRosNamespace(LaunchConfiguration("camera_name")),
-        compose_node = ComposableNode(
+                    ComposableNodeContainer(
-            package="orbbec_camera",
+                        name="camera_container",
-            plugin="orbbec_camera::OBCameraNodeDriver",
+                        namespace="",
-            name=LaunchConfiguration("camera_name"),
+                        package="rclcpp_components",
-            namespace="",
+                        executable="component_container",
-            parameters=parameters,
+                        composable_node_descriptions=[
-        )
+                            ComposableNode(
-        # Define the ComposableNodeContainer
+                                package="orbbec_camera",
-        container = ComposableNodeContainer(
+                                plugin="orbbec_camera::OBCameraNodeDriver",
-            name="camera_container",
+                                name=LaunchConfiguration("camera_name"),
-            namespace="",
+                                parameters=params,
-            package="rclcpp_components",
+                            ),
-            executable="component_container",
+                        ],
-            composable_node_descriptions=[
+                        output="screen",
-                compose_node,
+                    )
-            ],
+                ])
-            output="screen",
-        )
-        # Launch description
-        ld = LaunchDescription(
-            args
-            + [
-                GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
-                )
             ]
-        )
+
-        return ld
+    return LaunchDescription(
+        args + [
+            OpaqueFunction(function=lambda context: create_node_action(context, args))
+        ]
+    )

orbbec_camera/launch/gemini_330_series.launch.py

@@ -43,10 +43,28 @@ def load_parameters(context, args):
         yaml_params = load_yaml(config_file_path)
         default_params = merge_params(default_params, yaml_params)
     skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
-    return {
+
-        key: (value if key in skip_convert else convert_value(value))
+    result = {}
-        for key, value in default_params.items()
+    for key, value in default_params.items():
-    }
+        if key in skip_convert:
+            result[key] = value
+        elif 'enable_pub_plugins' in key:
+            if isinstance(value, str):
+                if value.startswith('[') and value.endswith(']'):
+                    try:
+                        result[key] = yaml.safe_load(value)
+                    except:
+                        result[key] = [value]
+                else:
+                    result[key] = [value]
+            elif isinstance(value, list):
+                result[key] = value
+            else:
+                result[key] = [str(value)]
+        else:
+            result[key] = convert_value(value)
+
+    return result
 
 
 def generate_launch_description():
@@ -195,6 +213,15 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_hardware_reset', default_value='false'),
 
         DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
+
+        #color image transport plugins
+        DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
+        #depth image transport plugins
+        DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw"]'),
+        #infra1
+        DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
+        #infra2
+        DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
     ]
 
     def get_params(context, args):