From d9f1e60adf04f6704cdfee1840d4f0005b5b639f Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Mon, 8 Jun 2026 14:03:26 +0800 Subject: [PATCH] fix: remove deprecated lower CPU usage launch files for Gemini series cameras --- orbbec_camera/examples/README.MD | 2 - ...emini_330_series_lower_cpu_usage.launch.py | 269 ------------------ .../multi_camera_lower_cpu_usage.launch.py | 150 ---------- 3 files changed, 421 deletions(-) delete mode 100644 orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py delete mode 100644 orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py diff --git a/orbbec_camera/examples/README.MD b/orbbec_camera/examples/README.MD index 8457fef3..7755bddf 100644 --- a/orbbec_camera/examples/README.MD +++ b/orbbec_camera/examples/README.MD @@ -6,11 +6,9 @@ These simple examples demonstrate how to easily use the camera with OrbbecSDK_RO | Name | Description | Experience Level | Document | | :---------------------------------------------------------------------------: | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------- | ----------------------------------------------------------------------------- | -| [Lower_cpu_usage](./lower_cpu_usage) | How to reduce CPU usage for one or more cameras in a ROS 2 environment. | ⭐️ | [Lower_cpu_usage](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/performance/lower_cpu_usage.html) | | [Net_camera](./net_camera) | How to use Net camera in OrbbecSDK_ROS2(Only Femto Mega nad Gemini 335Le) | ⭐️ | [Net_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/configuration/net_camera.html) | | [Gmsl_camera](./gmsl_camera) | How to use GMSL camera.(Only Gemini 335Lg) | ⭐️ | [Gmsl_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/gmsl_camera.html) | | [Benchmark](./benchmark) | The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. | ⭐️⭐️ | [Benchmark](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/performance/benchmark.html) | | [Multi_camera_synced_verification_tool](./multi_camera_synced_verification_tool) | How to verify the synchronization accuracy of multi-camera synchronization. | ⭐️⭐️⭐️ | [Multi_camera_synced_verification_tool](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html) | - diff --git a/orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py b/orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py deleted file mode 100644 index 3576cfd7..00000000 --- a/orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py +++ /dev/null @@ -1,269 +0,0 @@ -import os -import yaml -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node -from launch_ros.descriptions import ComposableNode -from launch.conditions import UnlessCondition -from launch_ros.actions import LoadComposableNodes - -def load_yaml(file_path): - with open(file_path, 'r') as f: - return yaml.safe_load(f) - - -def merge_params(default_params, yaml_params): - for key, value in yaml_params.items(): - if key in default_params: - default_params[key] = value - return default_params - - -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} - config_file_path = LaunchConfiguration('config_file_path').perform(context) - if config_file_path: - 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)) - for key, value in default_params.items() - } - - -def generate_launch_description(): - 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('uvc_backend', default_value='v4l2'),#libuvc or v4l2 - DeclareLaunchArgument('point_cloud_qos', default_value='default'), - DeclareLaunchArgument('enable_point_cloud', default_value='false'), - DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), - DeclareLaunchArgument('cloud_frame_id', default_value=''), - DeclareLaunchArgument('connection_delay', default_value='10'), - DeclareLaunchArgument('color_width', default_value='0'), - DeclareLaunchArgument('color_height', default_value='0'), - DeclareLaunchArgument('color_fps', default_value='0'), - 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('color_ae_max_exposure', default_value='-1'), - DeclareLaunchArgument('color_brightness', default_value='-1'), - DeclareLaunchArgument('depth_width', default_value='0'), - DeclareLaunchArgument('depth_height', default_value='0'), - DeclareLaunchArgument('depth_fps', default_value='0'), - DeclareLaunchArgument('depth_format', default_value='ANY'), - DeclareLaunchArgument('enable_depth', default_value='true'), - DeclareLaunchArgument('depth_qos', default_value='default'), - DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), - DeclareLaunchArgument('left_ir_width', default_value='0'), - DeclareLaunchArgument('left_ir_height', default_value='0'), - DeclareLaunchArgument('left_ir_fps', default_value='0'), - DeclareLaunchArgument('left_ir_format', default_value='ANY'), - DeclareLaunchArgument('enable_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='0'), - DeclareLaunchArgument('right_ir_height', default_value='0'), - DeclareLaunchArgument('right_ir_fps', default_value='0'), - DeclareLaunchArgument('right_ir_format', default_value='ANY'), - DeclareLaunchArgument('enable_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('ir_ae_max_exposure', default_value='-1'), - DeclareLaunchArgument('ir_brightness', default_value='-1'), - DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'), - DeclareLaunchArgument('enable_accel', default_value='false'), - DeclareLaunchArgument('accel_rate', default_value='200hz'), - DeclareLaunchArgument('accel_range', default_value='4g'), - DeclareLaunchArgument('enable_gyro', default_value='false'), - DeclareLaunchArgument('gyro_rate', default_value='200hz'), - DeclareLaunchArgument('gyro_range', default_value='1000dps'), - DeclareLaunchArgument('linear_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='info'), - DeclareLaunchArgument('log_file_name', default_value=''), - DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), - DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), - DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'), - DeclareLaunchArgument('enable_ldp', default_value='true'), - 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='true'), - DeclareLaunchArgument('frames_per_trigger', default_value='2'), - DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms - DeclareLaunchArgument('enable_frame_sync', default_value='true'), - DeclareLaunchArgument('ordered_pc', default_value='false'), - DeclareLaunchArgument('enable_depth_scale', default_value='true'), - DeclareLaunchArgument('enable_decimation_filter', default_value='false'), - DeclareLaunchArgument('enable_hdr_merge', default_value='false'), - DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), - DeclareLaunchArgument('enable_threshold_filter', default_value='false'), - DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='true'), - DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'), - DeclareLaunchArgument('enable_spatial_filter', default_value='false'), - DeclareLaunchArgument('enable_temporal_filter', default_value='false'), - DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), - DeclareLaunchArgument('enable_false_positive_filter', default_value='false'), - DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), - DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'), - DeclareLaunchArgument('threshold_filter_max', default_value='-1'), - DeclareLaunchArgument('threshold_filter_min', default_value='-1'), - DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'), - DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'), - DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'), - DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'), - DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'), - DeclareLaunchArgument('spatial_filter_radius', default_value='-1'), - DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'), - DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'), - DeclareLaunchArgument('hole_filling_filter_mode', default_value=''), - DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'), - DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'), - DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'), - DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'), - DeclareLaunchArgument('align_mode', default_value='SW'), - DeclareLaunchArgument('diagnostic_period', default_value='1.0'), - DeclareLaunchArgument('enable_laser', default_value='true'), - DeclareLaunchArgument('depth_precision', default_value=''), - DeclareLaunchArgument('device_preset', default_value='Default'), - DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), - DeclareLaunchArgument('laser_energy_level', default_value='-1'), - DeclareLaunchArgument('enable_sync_host_time', default_value='false'), - DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds - DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system - DeclareLaunchArgument('enable_color_undistortion', default_value='false'), - DeclareLaunchArgument('enable_depth_undistortion', default_value='false'), - DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'), - DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'), - DeclareLaunchArgument('config_file_path', default_value=''), - DeclareLaunchArgument('enable_heartbeat', default_value='false'), - DeclareLaunchArgument('enable_firmware_log', default_value='false'), - DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'), - DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'), - DeclareLaunchArgument('disparity_range_mode', default_value='-1'), - DeclareLaunchArgument('disparity_search_offset', default_value='-1'), - DeclareLaunchArgument('disparity_offset_config', default_value='false'), - DeclareLaunchArgument('offset_index0', default_value='-1'), - DeclareLaunchArgument('offset_index1', default_value='-1'), - DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable - DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser' - DeclareLaunchArgument('interleave_frame_enable', default_value='false'), - DeclareLaunchArgument('interleave_skip_enable', default_value='false'), - DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir - - DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param - DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), - DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), - DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'), - DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'), - DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'), - DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), - DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), - DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'), - DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'), - - DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param - DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), - DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'), - DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'), - DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'), - DeclareLaunchArgument('laser_index0_laser_control', default_value='1'), - DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'), - DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'), - DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'), - DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'), - DeclareLaunchArgument('use_intra_process_comms', default_value='false'), - DeclareLaunchArgument('attach_component_container_enable', default_value='false'), - DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'), - - ] - - def get_params(context, args): - return [load_parameters(context, args)] - - def create_node_action(context, args): - params = get_params(context, args) - ros_distro = os.environ.get("ROS_DISTRO", "humble") - if ros_distro == "foxy": - return [ - Node( - package="orbbec_camera", - executable="orbbec_camera_node", - name="ob_camera_node", - namespace=LaunchConfiguration("camera_name"), - parameters=params, - output="log", - ) - ] - else: - attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False) - component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container') - - orbbec_container = Node( - name=component_container_name_arg, - package='rclcpp_components', - executable='component_container_mt', - output='screen', - condition=UnlessCondition(attach_to_shared_component_container_arg) - ) - return [ - orbbec_container, - LoadComposableNodes( - target_container=component_container_name_arg, - composable_node_descriptions=[ - ComposableNode( - namespace=LaunchConfiguration("camera_name"), - name=LaunchConfiguration("camera_name"), - package='orbbec_camera', - plugin='orbbec_camera::OBCameraNodeDriver', - parameters=params, - extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}], - ) - ] - ) - ] - - return LaunchDescription( - args + [ - OpaqueFunction(function=lambda context: create_node_action(context, args)) - ] - ) diff --git a/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py b/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py deleted file mode 100644 index 85643cca..00000000 --- a/orbbec_camera/examples/lower_cpu_usage/multi_camera_lower_cpu_usage.launch.py +++ /dev/null @@ -1,150 +0,0 @@ -import os -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node,LoadComposableNodes -from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.actions import DeclareLaunchArgument -from launch.conditions import UnlessCondition, IfCondition -from launch.substitutions import LaunchConfiguration -from launch.substitutions import TextSubstitution -from launch_ros.descriptions import ComposableNode - -def load_yaml(file_path): - with open(file_path, 'r') as f: - return yaml.safe_load(f) - - -def merge_params(default_params, yaml_params): - for key, value in yaml_params.items(): - if key in default_params: - default_params[key] = value - return default_params - - -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} - config_file_path = LaunchConfiguration('config_file_path').perform(context) - if config_file_path: - 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)) - for key, value in default_params.items() - } -def generate_launch_description(): - # Include launch files - package_dir = get_package_share_directory("orbbec_camera") - launch_file_dir = os.path.join(package_dir, "examples/lower_cpu_usage") - - attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False) - component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container') - - shared_orbbec_container = Node( - name=component_container_name_arg, - package="rclcpp_components", - executable="component_container_mt", - output="log", - condition=UnlessCondition(attach_to_shared_component_container_arg), - ) - - attach_to_shared_component_container_arg = TextSubstitution(text="true") - - launch1_include = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py") - ), - launch_arguments={ - "camera_name": "camera_01", - "usb_port": "2-7", - "device_num": "4", - "sync_mode": "standalone", - "attach_to_shared_component_container": attach_to_shared_component_container_arg, - "component_container_name": component_container_name_arg, - }.items(), - ) - launch2_include = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py") - ), - launch_arguments={ - "camera_name": "camera_02", - "usb_port": "2-2", - "device_num": "4", - "sync_mode": "standalone", - "attach_to_shared_component_container": attach_to_shared_component_container_arg, - "component_container_name": component_container_name_arg, - }.items(), - ) - launch3_include = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py") - ), - launch_arguments={ - "camera_name": "camera_03", - "usb_port": "2-6", - "device_num": "4", - "sync_mode": "standalone", - "attach_to_shared_component_container": attach_to_shared_component_container_arg, - "component_container_name": component_container_name_arg, - }.items(), - ) - launch4_include = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_series_lower_cpu_usage.launch.py") - ), - launch_arguments={ - "camera_name": "camera_04", - "usb_port": "2-3", - "device_num": "4", - "sync_mode": "standalone", - "attach_to_shared_component_container": attach_to_shared_component_container_arg, - "component_container_name": component_container_name_arg, - }.items(), - ) - - delayed_left_camera = TimerAction( - period=2.0, - actions=[launch1_include], - ) - delayed_right_camera = TimerAction( - period=4.0, - actions=[launch2_include], - ) - delayed_rear_camera = TimerAction( - period=6.0, - actions=[launch3_include], - ) - delayed_front_camera = TimerAction( - period=8.0, - actions=[launch4_include], - ) - ld = LaunchDescription( - [ - shared_orbbec_container, - TimerAction(period=0.0, actions=[GroupAction([delayed_left_camera])]), - TimerAction(period=2.0, actions=[GroupAction([delayed_right_camera])]), - TimerAction(period=4.0, actions=[GroupAction([delayed_rear_camera])]), - TimerAction(period=6.0, actions=[GroupAction([delayed_front_camera])]), - ] - ) - - return ld