from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch.substitutions import LaunchConfiguration from launch_ros.actions import PushRosNamespace 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 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} skip_convert = {'config_file_path', 'usb_port', 'serial_number'} result = {} for key, value in default_params.items(): if key in skip_convert: result[key] = value elif 'enable_pub_plugins' in key: if isinstance(value, str): if value.startswith('[') and value.endswith(']'): try: result[key] = yaml.safe_load(value) except: result[key] = [value] else: result[key] = [value] elif isinstance(value, list): result[key] = value else: result[key] = [str(value)] else: result[key] = convert_value(value) return result def generate_launch_description(): # Declare arguments args = [ DeclareLaunchArgument('camera_name', default_value='camera'), DeclareLaunchArgument('depth_registration', default_value='false'), DeclareLaunchArgument('serial_number', default_value=''), DeclareLaunchArgument('usb_port', default_value=''), DeclareLaunchArgument('device_num', default_value='1'), DeclareLaunchArgument('vendor_id', default_value='0x2bc5'), DeclareLaunchArgument('product_id', default_value=''), DeclareLaunchArgument('enable_point_cloud', default_value='true'), DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), DeclareLaunchArgument('cloud_frame_id', default_value=''), DeclareLaunchArgument('point_cloud_qos', default_value='default'), DeclareLaunchArgument('connection_delay', default_value='100'), DeclareLaunchArgument('color_width', default_value='640'), DeclareLaunchArgument('color_height', default_value='480'), DeclareLaunchArgument('color_fps', default_value='10'), DeclareLaunchArgument('color_format', default_value='MJPG'), DeclareLaunchArgument('enable_color', default_value='true'), DeclareLaunchArgument('flip_color', default_value='false'), DeclareLaunchArgument('color_qos', default_value='default'), DeclareLaunchArgument('color_camera_info_qos', default_value='default'), DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'), 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_sharpness', default_value='-1'), DeclareLaunchArgument('color_saturation', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_gamma', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('depth_width', default_value='640'), DeclareLaunchArgument('depth_height', default_value='400'), DeclareLaunchArgument('depth_fps', default_value='10'), DeclareLaunchArgument('depth_format', default_value='Y11'), DeclareLaunchArgument('enable_depth', default_value='true'), DeclareLaunchArgument('flip_depth', default_value='false'), DeclareLaunchArgument('min_depth_limit', default_value='0'), DeclareLaunchArgument('max_depth_limit', default_value='0'), DeclareLaunchArgument('depth_qos', default_value='default'), DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), # /config/depthfilter/Openni_device.json，need config path. DeclareLaunchArgument('depth_filter_config', default_value=''), DeclareLaunchArgument('ir_width', default_value='640'), DeclareLaunchArgument('ir_height', default_value='400'), DeclareLaunchArgument('ir_fps', default_value='10'), DeclareLaunchArgument('ir_format', default_value='Y10'), DeclareLaunchArgument('enable_ir', default_value='true'), DeclareLaunchArgument('flip_ir', default_value='false'), DeclareLaunchArgument('ir_qos', default_value='default'), DeclareLaunchArgument('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('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_soft_filter', default_value='true'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('ordered_pc', default_value='false'), DeclareLaunchArgument('enable_depth_scale', default_value='true'), DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('industry_mode', default_value=''), #color image transport plugins DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), #depth image transport plugins DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw"]'), #ir image transport plugins DeclareLaunchArgument('ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), ] 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: return [ GroupAction([ PushRosNamespace(LaunchConfiguration("camera_name")), ComposableNodeContainer( name="camera_container", namespace="", package="rclcpp_components", executable="component_container", composable_node_descriptions=[ ComposableNode( package="orbbec_camera", plugin="orbbec_camera::OBCameraNodeDriver", name=LaunchConfiguration("camera_name"), parameters=params, ), ], output="screen", ) ]) ] return LaunchDescription( args + [ OpaqueFunction(function=lambda context: create_node_action(context, args)) ] )