mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 12:07:46 +08:00
Merge with OrbbecSDK_ROS2 v2.1.1
This commit is contained in:
datean
@@ -56,6 +56,7 @@ def generate_launch_description():
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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@@ -141,7 +142,7 @@ def generate_launch_description():
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DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
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DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
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DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
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DeclareLaunchArgument('decimation_filter_scale_', default_value='-1'),
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DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
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@@ -163,7 +164,6 @@ def generate_launch_description():
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DeclareLaunchArgument('enable_laser', default_value='true'),
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument('device_preset', default_value='Default'),
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DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
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DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
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@@ -1,233 +0,0 @@
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import os
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import yaml
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
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from launch_ros.descriptions import ComposableNode
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def load_yaml(file_path):
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with open(file_path, 'r') as f:
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return yaml.safe_load(f)
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def merge_params(default_params, yaml_params):
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for key, value in yaml_params.items():
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if key in default_params:
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default_params[key] = value
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return default_params
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def convert_value(value):
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if isinstance(value, str):
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try:
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return int(value)
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except ValueError:
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pass
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try:
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return float(value)
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except ValueError:
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pass
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if value.lower() == 'true':
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return True
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elif value.lower() == 'false':
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return False
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return value
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def load_parameters(context, args):
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default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
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config_file_path = LaunchConfiguration('config_file_path').perform(context)
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if config_file_path:
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yaml_params = load_yaml(config_file_path)
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default_params = merge_params(default_params, yaml_params)
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skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
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return {
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key: (value if key in skip_convert else convert_value(value))
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for key, value in default_params.items()
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}
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def generate_launch_description():
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args = [
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='true'),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument('enable_point_cloud', default_value='false'),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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DeclareLaunchArgument('connection_delay', default_value='10'),
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DeclareLaunchArgument('color_width', default_value='0'),
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DeclareLaunchArgument('color_height', default_value='0'),
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DeclareLaunchArgument('color_fps', default_value='30'),
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DeclareLaunchArgument('color_format', default_value='MJPG'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('color_brightness', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='0'),
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DeclareLaunchArgument('depth_height', default_value='0'),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument('depth_format', default_value='Y16'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('depth_qos', default_value='default'),
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
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DeclareLaunchArgument('left_ir_width', default_value='0'),
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DeclareLaunchArgument('left_ir_height', default_value='0'),
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DeclareLaunchArgument('left_ir_fps', default_value='30'),
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DeclareLaunchArgument('left_ir_format', default_value='Y8'),
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DeclareLaunchArgument('enable_left_ir', default_value='true'),
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DeclareLaunchArgument('left_ir_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_width', default_value='0'),
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DeclareLaunchArgument('right_ir_height', default_value='0'),
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DeclareLaunchArgument('right_ir_fps', default_value='30'),
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DeclareLaunchArgument('right_ir_format', default_value='Y8'),
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DeclareLaunchArgument('enable_right_ir', default_value='false'),
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DeclareLaunchArgument('right_ir_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_brightness', default_value='-1'),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
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DeclareLaunchArgument('enable_accel', default_value='false'),
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DeclareLaunchArgument('accel_rate', default_value='200hz'),
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DeclareLaunchArgument('accel_range', default_value='4g'),
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DeclareLaunchArgument('enable_gyro', default_value='false'),
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DeclareLaunchArgument('gyro_rate', default_value='200hz'),
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DeclareLaunchArgument('gyro_range', default_value='1000dps'),
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DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
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DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument('color_info_url', default_value=''),
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
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DeclareLaunchArgument('sync_mode', default_value='standalone'),
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DeclareLaunchArgument('depth_delay_us', default_value='0'),
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DeclareLaunchArgument('color_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
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DeclareLaunchArgument('frames_per_trigger', default_value='2'),
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DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
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DeclareLaunchArgument('enable_frame_sync', default_value='true'),
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DeclareLaunchArgument('ordered_pc', default_value='false'),
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DeclareLaunchArgument('use_hardware_time', default_value='true'),
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DeclareLaunchArgument('enable_depth_scale', default_value='true'),
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DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
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DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
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DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
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DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
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DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
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DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
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DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
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DeclareLaunchArgument('decimation_filter_scale_', default_value='-1'),
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DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
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DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
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DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
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DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
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DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
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DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
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DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
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DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
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DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
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DeclareLaunchArgument('align_mode', default_value='SW'),
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DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
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DeclareLaunchArgument('enable_laser', default_value='true'),
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument('device_preset', default_value='Default'),
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DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
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DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
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DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
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DeclareLaunchArgument('time_domain', default_value='device'),
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DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
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DeclareLaunchArgument('config_file_path', default_value=''),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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DeclareLaunchArgument('enable_hardware_reset', default_value='false'),
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DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
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DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
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DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
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DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
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]
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def get_params(context, args):
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return [load_parameters(context, args)]
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def create_node_action(context, args):
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params = get_params(context, args)
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ros_distro = os.environ.get("ROS_DISTRO", "humble")
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if ros_distro == "foxy":
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return [
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Node(
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package="orbbec_camera",
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executable="orbbec_camera_node",
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name="ob_camera_node",
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namespace=LaunchConfiguration("camera_name"),
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parameters=params,
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output="screen",
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)
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]
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else:
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return [
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GroupAction([
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PushRosNamespace(LaunchConfiguration("camera_name")),
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ComposableNodeContainer(
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name="camera_container",
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namespace="",
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package="rclcpp_components",
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executable="component_container",
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composable_node_descriptions=[
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ComposableNode(
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package="orbbec_camera",
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plugin="orbbec_camera::OBCameraNodeDriver",
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name=LaunchConfiguration("camera_name"),
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parameters=params,
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),
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],
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output="screen",
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)
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])
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]
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return LaunchDescription(
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args + [
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OpaqueFunction(function=lambda context: create_node_action(context, args))
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]
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)
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@@ -1,270 +0,0 @@
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import os
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import yaml
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from launch import LaunchDescription
|
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
|
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
|
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from launch_ros.descriptions import ComposableNode
|
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from launch.conditions import UnlessCondition
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from launch_ros.actions import LoadComposableNodes
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|
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def load_yaml(file_path):
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with open(file_path, 'r') as f:
|
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return yaml.safe_load(f)
|
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|
||||
|
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def merge_params(default_params, yaml_params):
|
||||
for key, value in yaml_params.items():
|
||||
if key in default_params:
|
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default_params[key] = value
|
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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':
|
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return True
|
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elif value.lower() == 'false':
|
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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:
|
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yaml_params = load_yaml(config_file_path)
|
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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='true'),
|
||||
DeclareLaunchArgument('serial_number', default_value=''),
|
||||
DeclareLaunchArgument('usb_port', default_value=''),
|
||||
DeclareLaunchArgument('device_num', default_value='1'),
|
||||
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='30'),
|
||||
DeclareLaunchArgument('color_format', default_value='YUYV'),
|
||||
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('color_ae_roi_left', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
||||
DeclareLaunchArgument('depth_fps', default_value='30'),
|
||||
DeclareLaunchArgument('depth_format', default_value='Y16'),
|
||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
|
||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
||||
DeclareLaunchArgument('left_ir_fps', default_value='30'),
|
||||
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
|
||||
DeclareLaunchArgument('enable_left_ir', default_value='true'),
|
||||
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='30'),
|
||||
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
|
||||
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('liner_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='none'),
|
||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
||||
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('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('use_hardware_time', default_value='true'),
|
||||
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='true'),
|
||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hole_filling_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='6000'),
|
||||
DeclareLaunchArgument('threshold_filter_min', default_value='100'),
|
||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='120'),
|
||||
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('laser_on_off_mode', default_value='0'),
|
||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
|
||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
||||
DeclareLaunchArgument('time_domain', default_value='device'),
|
||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hardware_reset', default_value='false'),
|
||||
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
|
||||
DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
|
||||
DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
|
||||
DeclareLaunchArgument('interleave_skip_index', default_value='0'), # 0:skip pattern ir 1: skip flood ir
|
||||
|
||||
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),
|
||||
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
|
||||
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
||||
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='60'),
|
||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
||||
|
||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),
|
||||
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='7000'),
|
||||
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='5000'),
|
||||
|
||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
|
||||
DeclareLaunchArgument('attach_to_shared_component_container', default_value='false'),
|
||||
DeclareLaunchArgument('component_container_name', default_value='shared_orbbec_container'),
|
||||
DeclareLaunchArgument('delta_duration_us', default_value='1000.0'),
|
||||
DeclareLaunchArgument('delta_fps', default_value='2'),
|
||||
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
|
||||
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
|
||||
]
|
||||
|
||||
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="screen",
|
||||
)
|
||||
]
|
||||
else:
|
||||
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='screen',
|
||||
condition=UnlessCondition(attach_to_shared_component_container_arg)
|
||||
)
|
||||
return [
|
||||
shared_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))
|
||||
]
|
||||
)
|
||||
@@ -1,245 +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='true'),
|
||||
DeclareLaunchArgument('serial_number', default_value=''),
|
||||
DeclareLaunchArgument('usb_port', default_value=''),
|
||||
DeclareLaunchArgument('device_num', default_value='1'),
|
||||
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='30'),
|
||||
DeclareLaunchArgument('color_format', default_value='MJPG'),
|
||||
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('color_ae_roi_left', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
||||
DeclareLaunchArgument('depth_fps', default_value='30'),
|
||||
DeclareLaunchArgument('depth_format', default_value='Y16'),
|
||||
DeclareLaunchArgument('enable_depth', default_value='true'),
|
||||
DeclareLaunchArgument('depth_qos', default_value='default'),
|
||||
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
|
||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
||||
DeclareLaunchArgument('left_ir_fps', default_value='30'),
|
||||
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
|
||||
DeclareLaunchArgument('enable_left_ir', default_value='true'),
|
||||
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='30'),
|
||||
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
|
||||
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('liner_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='none'),
|
||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
||||
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('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('use_hardware_time', default_value='true'),
|
||||
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_noise_removal_filter', default_value='true'),
|
||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hole_filling_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('laser_on_off_mode', default_value='0'),
|
||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
|
||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
||||
DeclareLaunchArgument('time_domain', default_value='device'),
|
||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hardware_reset', default_value='false'),
|
||||
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
|
||||
DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
|
||||
DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
|
||||
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:partern ir 1:flood ir
|
||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
|
||||
DeclareLaunchArgument('attach_to_shared_component_container', default_value='false'),
|
||||
DeclareLaunchArgument('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="screen",
|
||||
)
|
||||
]
|
||||
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))
|
||||
]
|
||||
)
|
||||
@@ -137,7 +137,7 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
||||
DeclareLaunchArgument('decimation_filter_scale_', default_value='-1'),
|
||||
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'),
|
||||
@@ -159,7 +159,6 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
||||
DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
|
||||
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
|
||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
|
||||
|
||||
@@ -1,45 +0,0 @@
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch_ros.actions import Node
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
import os
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Include launch files
|
||||
package_dir = get_package_share_directory('orbbec_camera')
|
||||
launch_file_dir = os.path.join(package_dir, 'launch')
|
||||
launch1_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'gemini_330_series_interleave_laser_g335.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_name': 'camera_01',
|
||||
'usb_port': '2-1-2',
|
||||
'device_num': '2',
|
||||
'sync_mode': 'PRIMARY'
|
||||
}.items()
|
||||
)
|
||||
|
||||
launch2_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'gemini_330_series_interleave_laser_g335L.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_name': 'camera_02',
|
||||
'usb_port': '2-2-3',
|
||||
'device_num': '2',
|
||||
'sync_mode': 'SECONDARY_SYNCED'
|
||||
}.items()
|
||||
)
|
||||
|
||||
# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
|
||||
|
||||
# Launch description
|
||||
ld = LaunchDescription([
|
||||
GroupAction([launch1_include]),
|
||||
GroupAction([launch2_include]),
|
||||
])
|
||||
|
||||
return ld
|
||||
@@ -41,7 +41,7 @@ def generate_launch_description():
|
||||
|
||||
front_camera = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
|
||||
os.path.join(launch_file_dir, "gemini_330_series.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "front_camera",
|
||||
|
||||
@@ -1,89 +0,0 @@
|
||||
import os
|
||||
import time
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
|
||||
from launch.event_handlers import OnProcessExit
|
||||
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
|
||||
def generate_launch_description():
|
||||
# Include launch files
|
||||
package_dir = get_package_share_directory("orbbec_camera")
|
||||
launch_file_dir = os.path.join(package_dir, "launch")
|
||||
config_file_dir = os.path.join(package_dir, "config")
|
||||
config_file_335_path = os.path.join(config_file_dir, "camera_335_params.yaml")
|
||||
config_file_335L_path = os.path.join(config_file_dir, "camera_335L_params.yaml")
|
||||
|
||||
use_intra_process_comms_declare = DeclareLaunchArgument(
|
||||
'use_intra_process_comms', default_value='false',
|
||||
)
|
||||
attach_to_shared_component_container_declare = DeclareLaunchArgument(
|
||||
'attach_to_shared_component_container', default_value='false',
|
||||
)
|
||||
component_container_name_declare = DeclareLaunchArgument(
|
||||
'component_container_name', default_value='shared_orbbec_container'
|
||||
)
|
||||
|
||||
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='screen',
|
||||
condition=UnlessCondition(attach_to_shared_component_container_arg)
|
||||
)
|
||||
|
||||
attach_to_shared_component_container_arg = TextSubstitution(text='true')
|
||||
|
||||
G0_41 = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "G0_41",
|
||||
"usb_port": "2-7",
|
||||
"device_num": "2",
|
||||
"sync_mode": "primary",
|
||||
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
|
||||
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
|
||||
'component_container_name': component_container_name_arg,
|
||||
"config_file_path": config_file_335_path,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
G1_50 = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
|
||||
),
|
||||
launch_arguments={
|
||||
"camera_name": "G1_50",
|
||||
"usb_port": "2-1",
|
||||
"device_num": "2",
|
||||
"sync_mode": "secondary_synced",
|
||||
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
|
||||
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
|
||||
'component_container_name': component_container_name_arg,
|
||||
"config_file_path": config_file_335_path,
|
||||
}.items(),
|
||||
)
|
||||
|
||||
|
||||
# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
|
||||
|
||||
ld = LaunchDescription([
|
||||
use_intra_process_comms_declare,
|
||||
attach_to_shared_component_container_declare,
|
||||
component_container_name_declare,
|
||||
shared_orbbec_container,
|
||||
G1_50,
|
||||
TimerAction(period=3.0, actions=[G0_41]),
|
||||
])
|
||||
|
||||
return ld
|
||||
|
||||
@@ -0,0 +1,184 @@
|
||||
import os
|
||||
import yaml
|
||||
import logging
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
from launch.conditions import UnlessCondition
|
||||
from launch_ros.actions import LoadComposableNodes
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
import sys
|
||||
sys.path.append(os.path.dirname(os.path.realpath(__file__)))
|
||||
from utils_yaml import *
|
||||
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
default_package_name = 'orbbec_camera'
|
||||
default_camera_model = 'gemini330_series'
|
||||
default_common_yaml = 'common.yaml'
|
||||
default_component_container_name = 'orbbec_container'
|
||||
|
||||
def generate_launch_arguments():
|
||||
launch_arguments = [
|
||||
#general config
|
||||
DeclareLaunchArgument('camera_model', default_value=default_camera_model),
|
||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
||||
#multi-device sync param
|
||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
||||
DeclareLaunchArgument('usb_port', default_value=''),
|
||||
DeclareLaunchArgument('device_num', default_value='1'),
|
||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
||||
#instra-process demo set
|
||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
|
||||
DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
|
||||
DeclareLaunchArgument('attach_component_container_name', default_value=default_component_container_name),
|
||||
]
|
||||
return launch_arguments
|
||||
|
||||
|
||||
def load_common_yaml_params():
|
||||
common_yaml_path = os.path.join(
|
||||
get_package_share_directory(default_package_name), 'config', default_common_yaml
|
||||
)
|
||||
common_yaml_path = get_absolute_path(common_yaml_path, package_name=default_package_name)
|
||||
logger.info(f"load convert Absolute path: {common_yaml_path}")
|
||||
return load_and_parse_yaml(common_yaml_path)
|
||||
|
||||
|
||||
def load_config_yaml_params(config_file_path, camera_model):
|
||||
config_yaml_path = config_file_path or os.path.join(
|
||||
get_package_share_directory(default_package_name), 'config', f"{camera_model}.yaml"
|
||||
)
|
||||
config_yaml_path = get_absolute_path(config_yaml_path, package_name=default_package_name)
|
||||
print(f"load convert Absolute config_yaml_path: {config_yaml_path}")
|
||||
return load_and_parse_yaml(config_yaml_path)
|
||||
|
||||
|
||||
def load_parameters(context, args):
|
||||
camera_model = LaunchConfiguration("camera_model").perform(context)
|
||||
config_file_path = LaunchConfiguration("config_file_path").perform(context)
|
||||
usb_port = LaunchConfiguration("usb_port").perform(context)
|
||||
print(f"camera_model: {camera_model}", f"config_file_path: {config_file_path}", f"usb_port: {usb_port}")
|
||||
|
||||
try:
|
||||
#1.load ymal params
|
||||
yaml_common_params = load_common_yaml_params()
|
||||
yaml_params = load_config_yaml_params(config_file_path,camera_model)
|
||||
#print_params(yaml_common_params)
|
||||
#print_params(yaml_params)
|
||||
yaml_params = update_params(yaml_common_params,yaml_params)
|
||||
#print_params(yaml_params)
|
||||
|
||||
#2.load args params
|
||||
args_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
|
||||
#print_params(args_params)
|
||||
|
||||
#3.meger params args
|
||||
if usb_port is None or usb_port == "": #meger yaml->args params
|
||||
print("usb_port param null")
|
||||
default_params = update_params(args_params, yaml_params)
|
||||
else:
|
||||
print("usb_port param not null value:", usb_port) #meger args->yaml params
|
||||
default_params = update_params(yaml_params, args_params)
|
||||
#print_params(default_params)
|
||||
|
||||
#4.load cmd params & meger params cmd->yaml
|
||||
cmd_params = dict([a for a in [a.split(':=') for a in sys.argv] if len(a) == 2])
|
||||
default_params = update_params(default_params,cmd_params)
|
||||
#print_params(args_params)
|
||||
|
||||
except (FileNotFoundError, yaml.YAMLError) as e:
|
||||
logger.error(f"Error loading YAML file: {e}")
|
||||
return {}
|
||||
|
||||
#5.Skip conversion for specific parameters
|
||||
SKIP_CONVERT = {'config_file_path', 'usb_port', 'serial_number', 'attach_component_container_name'}
|
||||
return {
|
||||
key: (value if key in SKIP_CONVERT else convert_value(value))
|
||||
for key, value in default_params.items()
|
||||
}
|
||||
|
||||
|
||||
def find_camera_name(params):
|
||||
return find_param(params, 'camera_name', 'camera')
|
||||
|
||||
def find_use_intra_process_comms(params):
|
||||
return find_param(params, 'use_intra_process_comms', False)
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
args = generate_launch_arguments()
|
||||
def get_params(context, args):
|
||||
return [load_parameters(context, args)]
|
||||
|
||||
def create_composable_node(camera_name, params, use_intra_process):
|
||||
common_arguments = [{'use_intra_process_comms': use_intra_process}]
|
||||
composable_node = ComposableNode(
|
||||
namespace=camera_name,
|
||||
name=camera_name,
|
||||
package=default_package_name,
|
||||
plugin='orbbec_camera::OBCameraNodeDriver',
|
||||
parameters=params,
|
||||
#extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
|
||||
extra_arguments=common_arguments,
|
||||
)
|
||||
return composable_node
|
||||
|
||||
|
||||
def create_orbbec_container(attach_component_container_name, attach_component_container_enable):
|
||||
orbbec_container = Node(
|
||||
name=attach_component_container_name,
|
||||
package='rclcpp_components',
|
||||
executable='component_container_mt',
|
||||
output='screen',
|
||||
condition=UnlessCondition(attach_component_container_enable)
|
||||
)
|
||||
return orbbec_container
|
||||
|
||||
|
||||
def create_node_action(context, args):
|
||||
params = get_params(context, args)
|
||||
camera_name = find_camera_name(params)
|
||||
|
||||
use_intra_process = find_use_intra_process_comms(params)
|
||||
#use_intra_process = LaunchConfiguration("use_intra_process_comms", default=False).perform(context)
|
||||
print(f"camera_name: {camera_name}", f"use_intra_process: {use_intra_process}")
|
||||
|
||||
attach_enable_condition = LaunchConfiguration("attach_component_container_enable", default=False).perform(context)
|
||||
attach_component_container_name = LaunchConfiguration("attach_component_container_name", default='orbbec_container').perform(context)
|
||||
print(f"attach_enable_condition: {attach_enable_condition}", f"attach_component_container_name: {attach_component_container_name}")
|
||||
|
||||
ros_distro = os.environ.get("ROS_DISTRO", "humble")
|
||||
if ros_distro == "foxy":
|
||||
return [
|
||||
Node(
|
||||
package=default_package_name,
|
||||
executable="orbbec_camera_node",
|
||||
name="ob_camera_node",
|
||||
namespace=camera_name,
|
||||
parameters=params,
|
||||
output="screen",
|
||||
#condition=UnlessCondition(attach_enable_condition)
|
||||
#prefix=['xterm -e gdb -ex run --args'],
|
||||
),
|
||||
]
|
||||
else:
|
||||
composable_node = create_composable_node(camera_name, params, use_intra_process)
|
||||
orbbec_container= create_orbbec_container(attach_component_container_name, attach_enable_condition)
|
||||
return [
|
||||
orbbec_container,
|
||||
LoadComposableNodes(
|
||||
target_container=attach_component_container_name,
|
||||
composable_node_descriptions=[composable_node]
|
||||
),
|
||||
]
|
||||
|
||||
return LaunchDescription(
|
||||
args + [
|
||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
||||
]
|
||||
)
|
||||
@@ -0,0 +1,112 @@
|
||||
import os
|
||||
import yaml
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import IncludeLaunchDescription, TimerAction
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.conditions import IfCondition
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction
|
||||
import sys
|
||||
sys.path.append(os.path.dirname(os.path.realpath(__file__)))
|
||||
from utils_yaml import *
|
||||
|
||||
|
||||
default_package_name = 'orbbec_camera'
|
||||
default_launch_file = 'orbbec_camera.launch.py'
|
||||
default_multi_camera_config_file = 'multicamera.yaml' #'multi_camera_synced.ymal'
|
||||
default_shared_container_name = 'shared_orbbec_container'
|
||||
|
||||
|
||||
def generate_launch_arguments():
|
||||
launch_arguments = [
|
||||
#general config
|
||||
DeclareLaunchArgument('config_file_path', default_value=default_multi_camera_config_file),
|
||||
#instra-process demo set
|
||||
DeclareLaunchArgument('use_intra_process_comms', default_value='false'), #false
|
||||
DeclareLaunchArgument('attach_component_container_enable', default_value='false'), #false
|
||||
DeclareLaunchArgument('attach_component_container_name', default_value=default_shared_container_name),
|
||||
]
|
||||
return launch_arguments
|
||||
|
||||
|
||||
def generate_camera_node(args, launch_file_dir, camera_params, launch_file=default_launch_file):
|
||||
config_params = {key: value for key, value in camera_params.items()}
|
||||
#load launch_arguments and meger to yaml params
|
||||
args_params = {arg.name: arg.default_value for arg in args}
|
||||
#print_params(args_params)
|
||||
default_params = update_params(args_params, config_params)
|
||||
#print_params(default_params)
|
||||
return IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, launch_file)
|
||||
),
|
||||
launch_arguments=default_params.items()
|
||||
)
|
||||
|
||||
|
||||
def load_yaml_params(config_file_path):
|
||||
config_yaml_path = config_file_path or os.path.join(get_package_share_directory(default_package_name), 'config', config_file_path)
|
||||
config_yaml_path = get_absolute_path(config_yaml_path, package_name=default_package_name)
|
||||
print(f"load convert Absolute config_yaml_path: {config_yaml_path}")
|
||||
return load_yaml(config_yaml_path)
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
args=generate_launch_arguments()
|
||||
package_dir = get_package_share_directory(default_package_name)
|
||||
launch_file_dir = os.path.join(package_dir, "launch")
|
||||
|
||||
|
||||
def create_share_container(attach_component_container_name, attach_enable_condition):
|
||||
shared_container = Node(
|
||||
name=attach_component_container_name,
|
||||
package='rclcpp_components',
|
||||
executable='component_container_mt',
|
||||
output='screen',
|
||||
condition=IfCondition(attach_enable_condition)
|
||||
)
|
||||
return shared_container
|
||||
|
||||
|
||||
def create_node_action(context, args):
|
||||
attach_enable_condition = LaunchConfiguration("attach_component_container_enable", default=False).perform(context)
|
||||
attach_component_container_name = LaunchConfiguration("attach_component_container_name", default=default_shared_container_name).perform(context)
|
||||
use_intra_process_comms = LaunchConfiguration("use_intra_process_comms", default=False).perform(context)
|
||||
print(f"attach_enable_condition: {attach_enable_condition}", f"attach_component_container_name: {attach_component_container_name}")
|
||||
print(f"use_intra_process_comms: {use_intra_process_comms}")
|
||||
shared_container_node = create_share_container(attach_component_container_name, attach_enable_condition)
|
||||
|
||||
config_file_path = LaunchConfiguration("config_file_path", default=default_multi_camera_config_file).perform(context)
|
||||
print(f"config_file_path: {config_file_path}")
|
||||
#camera_config_file = os.path.join(package_dir, "config", config_file_path)
|
||||
config_params = load_yaml_params(config_file_path)
|
||||
if not config_params:
|
||||
raise Exception("Failed to load multi-camera configuration.")
|
||||
|
||||
camera_params = config_params['orbbec_ros']['multi_camera_parameters']
|
||||
camera_actions = []
|
||||
for camera_key in camera_params:
|
||||
if camera_key.startswith('launch_device_camera'):
|
||||
camera_config = camera_params[camera_key]
|
||||
#print_params(camera_config)
|
||||
period_value = float(camera_config.pop('period', '0.0'))
|
||||
print(f"period_value: {period_value}", f"camera_config: {camera_config}")
|
||||
|
||||
camera_node = generate_camera_node(args, launch_file_dir, camera_config)
|
||||
camera_action = TimerAction(period=period_value, actions=[camera_node])
|
||||
camera_actions.append(camera_action)
|
||||
|
||||
nodes = [
|
||||
shared_container_node,
|
||||
*camera_actions,
|
||||
]
|
||||
return nodes
|
||||
|
||||
return LaunchDescription(
|
||||
args + [
|
||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
||||
]
|
||||
)
|
||||
@@ -0,0 +1,86 @@
|
||||
import os
|
||||
import yaml
|
||||
import logging
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
def load_yaml(file_path):
|
||||
try:
|
||||
with open(file_path, 'r') as f:
|
||||
return yaml.safe_load(f)
|
||||
except FileNotFoundError:
|
||||
logger.error(f"File {file_path} not found.")
|
||||
return {}
|
||||
except yaml.YAMLError as e:
|
||||
logger.error(f"Error parsing YAML file {file_path}: {e}")
|
||||
return {}
|
||||
|
||||
|
||||
def parse_yaml(data, prefix='', params=None):
|
||||
if params is None:
|
||||
params = {}
|
||||
if isinstance(data, dict):
|
||||
for key, value in data.items():
|
||||
new_prefix = f'{key}.' if prefix else key + '.'
|
||||
params = parse_yaml(value, prefix=new_prefix, params=params)
|
||||
elif isinstance(data, list):
|
||||
for index, item in enumerate(data):
|
||||
params = parse_yaml(item, prefix=f'[{index}].', params=params)
|
||||
else:
|
||||
params[prefix[:-1]] = data
|
||||
#print(f'{prefix}: {data}')
|
||||
return params
|
||||
|
||||
|
||||
def load_and_parse_yaml(file_path):
|
||||
data = load_yaml(file_path)
|
||||
return parse_yaml(data) if data else {}
|
||||
|
||||
|
||||
def update_params(default_params, yaml_params):
|
||||
default_params.update(yaml_params)
|
||||
return default_params
|
||||
|
||||
|
||||
def find_param(params, key, default_value=None):
|
||||
if isinstance(params, dict):
|
||||
return params.get(key, default_value)
|
||||
elif isinstance(params, list):
|
||||
for param_dict in params:
|
||||
if isinstance(param_dict, dict) and key in param_dict:
|
||||
return param_dict[key]
|
||||
return default_value
|
||||
|
||||
|
||||
def get_absolute_path(config_file_path, package_name):
|
||||
if not os.path.isabs(config_file_path):
|
||||
logger.info(f"not Absolute path: {config_file_path}")
|
||||
return os.path.join(get_package_share_directory(package_name), 'config', config_file_path)
|
||||
logger.info(f"Absolute path: {config_file_path}")
|
||||
return config_file_path
|
||||
|
||||
|
||||
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 print_params(default_params):
|
||||
print(f"\n----------------------------------------")
|
||||
for key, value in default_params.items():
|
||||
print(f"Key: {key}, Value: {value}")
|
||||
print(f"----------------------------------------\n")
|
||||
Reference in New Issue
Block a user