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Write the tool node parameters into a json file

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jj
2024-11-06 20:04:23 +08:00
parent 10dc88861e
commit cc8dcd8a82
7 changed files with 189 additions and 101 deletions
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orbbec_camera/tools/metadata_save_files.hpp
+37 -14
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@@ -103,24 +103,47 @@ using std::placeholders::_2;
class MetadataSaveFiles : public rclcpp::Node {
public:
MetadataSaveFiles() : Node("metadata_save_files") {
this->declare_parameter("left_ir_image_topic", "/camera/left_ir/image_raw");
this->declare_parameter("right_ir_image_topic", "/camera/right_ir/image_raw");
this->declare_parameter("depth_image_topic", "/camera/depth/image_raw");
this->declare_parameter("left_ir_metadata_topic", "/camera/left_ir/metadata");
this->declare_parameter("right_ir_metadata_topic", "/camera/right_ir/metadata");
this->declare_parameter("depth_metadata_topic", "/camera/depth/metadata");
left_ir_image_topic_ = this->get_parameter("left_ir_image_topic").as_string();
right_ir_image_topic_ = this->get_parameter("right_ir_image_topic").as_string();
depth_image_topic_ = this->get_parameter("depth_image_topic").as_string();
left_ir_metadata_topic_ = this->get_parameter("left_ir_metadata_topic").as_string();
right_ir_metadata_topic_ = this->get_parameter("right_ir_metadata_topic").as_string();
depth_metadata_topic_ = this->get_parameter("depth_metadata_topic").as_string();
initialize_params();
initialize_directories();
initialize_pub_sub();
}
void initialize_params() {
std::ifstream file(
"install/orbbec_camera/share/orbbec_camera/config/tools/metadatasave/"
"metadata_save_params.json");
if (!file.is_open()) {
RCLCPP_ERROR(this->get_logger(), "Failed to open JSON file.");
return;
}
nlohmann::json json_data;
file >> json_data;
left_ir_image_topic_ =
json_data["metadata_save_params"]["left_ir_image_topic"].get<std::string>();
right_ir_image_topic_ =
json_data["metadata_save_params"]["right_ir_image_topic"].get<std::string>();
depth_image_topic_ = json_data["metadata_save_params"]["depth_image_topic"].get<std::string>();
left_ir_metadata_topic_ =
json_data["metadata_save_params"]["left_ir_metadata_topic"].get<std::string>();
right_ir_metadata_topic_ =
json_data["metadata_save_params"]["right_ir_metadata_topic"].get<std::string>();
depth_metadata_topic_ =
json_data["metadata_save_params"]["depth_metadata_topic"].get<std::string>();
RCLCPP_INFO(this->get_logger(), "Parameter 2: %s", depth_image_topic_.c_str());
// this->declare_parameter("left_ir_image_topic", "/camera/left_ir/image_raw");
// this->declare_parameter("right_ir_image_topic", "/camera/right_ir/image_raw");
// this->declare_parameter("depth_image_topic", "/camera/depth/image_raw");
// this->declare_parameter("left_ir_metadata_topic", "/camera/left_ir/metadata");
// this->declare_parameter("right_ir_metadata_topic", "/camera/right_ir/metadata");
// this->declare_parameter("depth_metadata_topic", "/camera/depth/metadata");
// left_ir_image_topic_ = this->get_parameter("left_ir_image_topic").as_string();
// right_ir_image_topic_ = this->get_parameter("right_ir_image_topic").as_string();
// depth_image_topic_ = this->get_parameter("depth_image_topic").as_string();
// left_ir_metadata_topic_ = this->get_parameter("left_ir_metadata_topic").as_string();
// right_ir_metadata_topic_ = this->get_parameter("right_ir_metadata_topic").as_string();
// depth_metadata_topic_ = this->get_parameter("depth_metadata_topic").as_string();
}
void initialize_pub_sub() {
auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data));
const rmw_qos_profile_t qos_filters = qos.get_rmw_qos_profile();