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Add max pro launch

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This commit is contained in:
lixiaobin
2024-01-02 16:26:23 +08:00
parent b35caba5a5
commit d8e489d9d9
6 changed files with 337 additions and 2 deletions
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README.MD
+7
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@@ -403,6 +403,13 @@ The frame fps and resolution of IR must be consistent with the depth. The corres
| gemini2L | gemini2L.launch.py |
| gemini e | gemini_e.launch.py |
| gemini e lite | gemini_e_lite.launch.py |
| dabai max | dabai_max.launch.py |
| dabai max pro | dabai_max_pro.launch.py |
| gemini uw | gemini_uw.launch.py |
| dabai dcw2 | dabai_dcw2.launch.py |
| dabai dw2 | dabai_dw2.launch.py |
| gemini ew | gemini_ew.launch.py |
| gemini ew lite | gemini_ew_lite.launch.py|
Actually, All launch files all most the same, the only difference is the default value of the parameters.
README_CN.MD
+7
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@@ -390,6 +390,13 @@ IR的分辨率和帧率必须和深度保持一致。不同模式和分辨率对
| gemini2L | gemini2L.launch.py |
| gemini e | gemini_e.launch.py |
| gemini e lite | gemini_e_lite.launch.py |
| dabai max | dabai_max.launch.py |
| dabai max pro | dabai_max_pro.launch.py |
| gemini uw | gemini_uw.launch.py |
| dabai dcw2 | dabai_dcw2.launch.py |
| dabai dw2 | dabai_dw2.launch.py |
| gemini ew | gemini_ew.launch.py |
| gemini ew lite | gemini_ew_lite.launch.py|
实际上所有的launch文件都是差不多的内容，只是相机的分辨率和图像格式不同。
XML launch 文件将会在后续的版本中删除。
orbbec_camera/launch/dabai_dcw2.launch.py
+2 -2
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@@ -40,6 +40,8 @@ def generate_launch_description():
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'),
@@ -55,10 +57,8 @@ def generate_launch_description():
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_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'),
orbbec_camera/launch/dabai_dw2.launch.py
+103
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@@ -0,0 +1,103 @@
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('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'),
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('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
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'),
]
# 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
orbbec_camera/launch/gemini_ew.launch.py
+113
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@@ -0,0 +1,113 @@
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('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('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'),
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('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
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'),
]
# 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
orbbec_camera/launch/gemini_ew_lite.launch.py
+105
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@@ -0,0 +1,105 @@
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('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'),
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('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
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('jpeg_decoder', default_value='avdec_mjpeg'),
DeclareLaunchArgument('video_convert', default_value='videoconvert'),
DeclareLaunchArgument('ordered_pc', 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