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add py launch file

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This commit is contained in:
Joe Dong
2023-08-22 22:30:41 +08:00
parent 63e91e88db
commit c981eeb282
2 changed files with 36 additions and 46 deletions
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orbbec_camera/launch/multi_camera.launch.py
+17 -35
View File
@@ -1,21 +1,12 @@
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
from launch.substitutions import LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
from launch_ros.actions import Node from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os
def generate_launch_description(): def generate_launch_description():
# Declare arguments
camera_name = DeclareLaunchArgument('camera_name', default_value='camera')
d_sensor = DeclareLaunchArgument('3d_sensor', default_value='gemini2')
camera1_prefix = DeclareLaunchArgument('camera1_prefix', default_value='01')
camera2_prefix = DeclareLaunchArgument('camera2_prefix', default_value='02')
camera1_usb_port = DeclareLaunchArgument('camera1_usb_port', default_value='2-3.3')
camera2_usb_port = DeclareLaunchArgument('camera2_usb_port', default_value='1-4.4')
device_num = DeclareLaunchArgument('device_num', default_value='2')
# Node configuration # Node configuration
cleanup_node = Node( cleanup_node = Node(
package='orbbec_camera', package='orbbec_camera',
@@ -25,46 +16,37 @@ def generate_launch_description():
) )
# Include launch files # Include launch files
launch_file_dir = FindPackageShare('orbbec_camera').find('orbbec_camera') + '/launch' package_dir = get_package_share_directory('orbbec_camera')
launch_file_dir = os.path.join(package_dir, 'launch')
launch1_include = IncludeLaunchDescription( launch1_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')), PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini2.launch.py')
),
launch_arguments={ launch_arguments={
'camera_name': 'camera_' + LaunchConfiguration('camera1_prefix'), 'camera_name': 'camera_01',
'usb_port': LaunchConfiguration('camera1_usb_port'), 'usb_port': '6-2.4.4.2',
'device_num': LaunchConfiguration('device_num') 'device_num': '2'
}.items() }.items()
) )
launch2_include = IncludeLaunchDescription( launch2_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(launch_file_dir + '/' + (LaunchConfiguration('3d_sensor') + '.launch.py')), PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini2.launch.py')
),
launch_arguments={ launch_arguments={
'camera_name': 'camera_' + LaunchConfiguration('camera2_prefix'), 'camera_name': 'camera_02',
'usb_port': LaunchConfiguration('camera2_usb_port'), 'usb_port': '6-2.4.1',
'device_num': LaunchConfiguration('device_num') 'device_num': '2'
}.items() }.items()
) )
# Static TF publisher # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
tf_publisher = Node(
package='tf2_ros',
executable='static_transform_publisher',
name='camera_tf',
arguments=['0', '0', '0', '0', '0', '0', 'camera01_link', 'camera02_link']
)
# Launch description # Launch description
ld = LaunchDescription([ ld = LaunchDescription([
camera_name,
d_sensor,
camera1_prefix,
camera2_prefix,
camera1_usb_port,
camera2_usb_port,
device_num,
cleanup_node, cleanup_node,
GroupAction([launch1_include]), GroupAction([launch1_include]),
GroupAction([launch2_include]), GroupAction([launch2_include]),
tf_publisher
]) ])
return ld return ld
orbbec_camera/src/list_devices_node.cpp
+19 -11
View File
@@ -4,17 +4,25 @@
#include <orbbec_camera/utils.h> #include <orbbec_camera/utils.h>
int main() { int main() {
auto context = std::make_unique<ob::Context>(); try {
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE); auto context = std::make_unique<ob::Context>();
auto list = context->queryDeviceList(); context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
for (size_t i = 0; i < list->deviceCount(); i++) { auto list = context->queryDeviceList();
auto device = list->getDevice(i); for (size_t i = 0; i < list->deviceCount(); i++) {
auto device_info = device->getDeviceInfo(); auto device = list->getDevice(i);
std::string serial = device_info->serialNumber(); auto device_info = device->getDeviceInfo();
std::string uid = device_info->uid(); std::string serial = device_info->serialNumber();
auto usb_port = orbbec_camera::parseUsbPort(uid); std::string uid = device_info->uid();
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial); auto usb_port = orbbec_camera::parseUsbPort(uid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port); RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
}
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.what());
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.getMessage());
} catch (...) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), "unknown error");
} }
return 0; return 0;
} }