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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') 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') 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_arg = DeclareLaunchArgument(
'perceptor_config_file', default_value=default_perceptor_config_file, 'perceptor_config_file', default_value=default_perceptor_config_file,
@@ -69,7 +69,7 @@ def generate_launch_description():
perceptor_launch = IncludeLaunchDescription( perceptor_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join( 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"), launch_arguments={'config_file': LaunchConfiguration("perceptor_config_file"),
'attach_to_shared_component_container': 'True', 'attach_to_shared_component_container': 'True',
'component_container_name': component_container_name_arg}.items()) 'component_container_name': component_container_name_arg}.items())
@@ -101,10 +101,10 @@ def generate_launch_description():
from_bag_arg, from_bag_arg,
bag_path_arg, bag_path_arg,
shared_orbbec_container, shared_orbbec_container,
# orbbec_launch, orbbec_launch,
base_static_transforms_publisher, base_static_transforms_publisher,
# perceptor_launch, perceptor_launch,
# bag_play, bag_play,
# rviz2_node, rviz2_node,
] ]
) )
orbbec_camera/config/camera_params.yaml
+4 -13
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@@ -1,20 +1,13 @@
# common params # common params
depth_registration: false depth_registration: false
depth_registration: false enable_point_cloud: true
enable_d2c_viewer: false
enable_point_cloud: false
enable_colored_point_cloud: false enable_colored_point_cloud: false
device_preset: "High Accuracy" device_preset: "High Accuracy"
laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
time_domain: "global" # global, device, system time_domain: "global" # global, device, system
enable_sync_host_time: false enable_sync_host_time: true
frames_per_trigger: 1 frames_per_trigger: 1
log_level: "warning"
# When 3D reconstruction mode is enabled: enable_laser: false
# - 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: false
# color params # color params
enable_color: true enable_color: true
@@ -54,5 +47,3 @@ right_ir_height: 360
right_ir_fps: 60 right_ir_fps: 60
right_ir_format: "Y8" right_ir_format: "Y8"
right_ir_qos: "sensor_data" right_ir_qos: "sensor_data"