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update launch.py

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datean
2024-12-25 14:50:27 +08:00
parent bb9f4d10d0
commit efd2e63558
2 changed files with 10 additions and 19 deletions
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isaac_orbbec_launch/launch/orbbec_perceptor.launch.py
+6 -6
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@@ -18,7 +18,7 @@ def generate_launch_description():
default_perceptor_config_file = os.path.join(isaac_orbbec_launch_dir, 'param', 'orbbec_perceptor_detached.yaml')
perceptor_odom_rviz_file = os.path.join(isaac_orbbec_launch_dir, 'param', 'perceptor_odom.rviz')
default_dev_matrices_file = os.path.join(isaac_orbbec_launch_dir, 'config', 'matrices_SN1423724335594.yaml')
default_dev_matrices_file = os.path.join(isaac_orbbec_launch_dir, 'config', 'dev_matrices_SN1423724335594.yaml')
perceptor_config_file_arg = DeclareLaunchArgument(
'perceptor_config_file', default_value=default_perceptor_config_file,
@@ -69,7 +69,7 @@ def generate_launch_description():
perceptor_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
perceptor_bringup_dir, 'launch', 'rgbd_perceptor.launch.py')]),
perceptenable_point_cloudor_bringup_dir, 'launch', 'rgbd_perceptor.launch.py')]),
launch_arguments={'config_file': LaunchConfiguration("perceptor_config_file"),
'attach_to_shared_component_container': 'True',
'component_container_name': component_container_name_arg}.items())
@@ -101,10 +101,10 @@ def generate_launch_description():
from_bag_arg,
bag_path_arg,
shared_orbbec_container,
# orbbec_launch,
orbbec_launch,
base_static_transforms_publisher,
# perceptor_launch,
# bag_play,
# rviz2_node,
perceptor_launch,
bag_play,
rviz2_node,
]
)