chore: Optimal gemini 330 launch file

orbbec_camera/config/camera_params.yaml

@@ -0,0 +1,45 @@
+# common params
+depth_registration: false
+enable_point_cloud: false
+enable_colored_point_cloud: false
+device_preset: "High Accuracy"
+laser_on_off_mode: 1 # 0: off, 1: on-off, 1: off-on
+
+# When 3D reconstruction mode is enabled:
+# - The laser will switch to on-off mode
+# - IR images without the laser will be used for SLAM localization
+# - Depth images with the laser will be used because they provide better depth quality
+enable_3d_reconstruction_mode: true
+
+# color params
+enable_color: true
+color_width: 640
+color_height: 480
+color_fps: 60
+color_format: "YUYV"
+enable_color_auto_exposure: false
+color_exposure: 50 # 5ms
+color_gain: -1 # -1 default
+
+# depth params
+depth_width: 640
+depth_height: 480
+depth_fps: 60
+depth_format: "Y16"
+
+# ir exposure
+enable_ir_auto_exposure: false
+ir_exposure: 5000 # 5ms
+ir_gain: 40
+
+#left ir params
+left_ir_width: 640
+left_ir_height: 480
+left_ir_fps: 60
+left_ir_format: "Y8"
+
+#right ir params
+right_ir_width: 640
+right_ir_height: 480
+right_ir_fps: 60
+right_ir_format: "Y8"

orbbec_camera/launch/gemini_330_series.launch.py

@@ -1,16 +1,48 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import PushRosNamespace
+from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
-from launch.actions import GroupAction
-from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
-from launch_ros.actions import Node
 import os
+import yaml
+
+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: convert_value(value) if key not in skip_convert else value for key, value in default_params.items()}
 
 
 def generate_launch_description():
-    # Declare arguments
     args = [
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('depth_registration', default_value='true'),
@@ -117,63 +149,54 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_laser', default_value='true'),
         DeclareLaunchArgument('depth_precision', default_value=''),
         DeclareLaunchArgument('device_preset', default_value='Default'),
-        # Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate.
         DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
-        # When 3D reconstruction mode is enabled:
-        # - The laser will switch to on-off mode
-        # - IR images without the laser will be used for SLAM localization
-        # - Depth images with the laser will be used because they provide better depth quality
         DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
+        DeclareLaunchArgument('config_file_path', default_value=''),
     ]
 
-    # Node configuration
+    def get_params(context, args):
-    parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
+        return [load_parameters(context, args)]
-    # get  ROS_DISTRO
+
-    ros_distro = os.environ["ROS_DISTRO"]
+    def create_node_action(context, args):
-    if ros_distro == "foxy":
+        params = get_params(context, args)
-        return LaunchDescription(
+        ros_distro = os.environ.get("ROS_DISTRO", "humble")
-            args
+        if ros_distro == "foxy":
-            + [
+            return [
                 Node(
                     package="orbbec_camera",
                     executable="orbbec_camera_node",
                     name="ob_camera_node",
                     namespace=LaunchConfiguration("camera_name"),
-                    parameters=parameters,
+                    parameters=params,
                     output="screen",
                 )
             ]
-        )
+        else:
-    # Define the ComposableNode
+            return [
-    else:
+                GroupAction([
-        # Define the ComposableNode
+                    PushRosNamespace(LaunchConfiguration("camera_name")),
-        compose_node = ComposableNode(
+                    ComposableNodeContainer(
-            package="orbbec_camera",
+                        name="camera_container",
-            plugin="orbbec_camera::OBCameraNodeDriver",
+                        namespace="",
-            name=LaunchConfiguration("camera_name"),
+                        package="rclcpp_components",
-            namespace="",
+                        executable="component_container",
-            parameters=parameters,
+                        composable_node_descriptions=[
-        )
+                            ComposableNode(
-        # Define the ComposableNodeContainer
+                                package="orbbec_camera",
-        container = ComposableNodeContainer(
+                                plugin="orbbec_camera::OBCameraNodeDriver",
-            name="camera_container",
+                                name=LaunchConfiguration("camera_name"),
-            namespace="",
+                                parameters=params,
-            package="rclcpp_components",
+                            ),
-            executable="component_container",
+                        ],
-            composable_node_descriptions=[
+                        output="screen",
-                compose_node,
+                    )
-            ],
+                ])
-            output="screen",
-        )
-        # Launch description
-        ld = LaunchDescription(
-            args
-            + [
-                GroupAction(
-                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
-                )
             ]
-        )
+
-        return ld
+    return LaunchDescription(
+        args + [
+            OpaqueFunction(function=lambda context: create_node_action(context, args))
+        ]
+    )

orbbec_camera/launch/multi_camera_synced.launch.py

@@ -10,6 +10,8 @@ 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_path = os.path.join(config_file_dir, 'camera_params.yaml')
     launch1_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
@@ -18,7 +20,8 @@ def generate_launch_description():
             'camera_name': 'front_camera',
             'usb_port': '2-1.1',
             'device_num': '4',
-            'sync_mode': 'primary'
+            'sync_mode': 'primary',
+            'config_file': config_file_path,
         }.items()
     )
 
@@ -30,7 +33,8 @@ def generate_launch_description():
             'camera_name': 'left_camera',
             'usb_port': '2-1.2.1',
             'device_num': '4',
-            'sync_mode': 'secondary_synced'
+            'sync_mode': 'secondary_synced',
+            'config_file': config_file_path,
         }.items()
     )
     launch3_include = IncludeLaunchDescription(
@@ -41,7 +45,8 @@ def generate_launch_description():
             'camera_name': 'right_camera',
             'usb_port': '2-1.2.1',
             'device_num': '4',
-            'sync_mode': 'secondary_synced'
+            'sync_mode': 'secondary_synced',
+            'config_file': config_file_path,
         }.items()
     )
     launch4_include = IncludeLaunchDescription(
@@ -52,7 +57,8 @@ def generate_launch_description():
             'camera_name': 'right_camera',
             'usb_port': '2-1.2.1',
             'device_num': '4',
-            'sync_mode': 'secondary_synced'
+            'sync_mode': 'secondary_synced',
+            'config_file': config_file_path,
         }.items()
     )
 
@@ -63,7 +69,7 @@ def generate_launch_description():
         GroupAction([launch2_include]),
         GroupAction([launch3_include]),
         GroupAction([launch4_include]),
-        GroupAction([launch1_include]),
+        GroupAction([launch1_include]), # The primary camera should be launched at last
     ])
 
     return ld