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 def load_yaml(file_path): try: with open(file_path, 'r') as f: return yaml.safe_load(f) except Exception as e: print(f"[orbbec_camera] Failed to load yaml '{file_path}': {e}") return {} def merge_params(default_params, yaml_params): if not isinstance(yaml_params, dict): print(f"[orbbec_camera] YAML parameters should be a dictionary.") return default_params for key, value in yaml_params.items(): default_params[key] = value return default_params def resolve_config_file_path(config_file_path: str) -> str: if not config_file_path: return config_file_path if os.path.isabs(config_file_path) and os.path.exists(config_file_path): return config_file_path if os.path.exists(config_file_path): return config_file_path config_dir = os.path.normpath(os.path.join(os.path.dirname(__file__), '..', 'config')) candidate = os.path.join(config_dir, config_file_path) if os.path.exists(candidate): return candidate 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 load_parameters(context, args): default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args} config_file_path = resolve_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'} 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(): args = [ DeclareLaunchArgument('device_type', default_value='camera'), 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('upgrade_firmware', default_value=''), DeclareLaunchArgument('preset_firmware_path', default_value=''), DeclareLaunchArgument('load_config_json_file_path', default_value=''), DeclareLaunchArgument('export_config_json_file_path', default_value=''), DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2 DeclareLaunchArgument('point_cloud_qos', default_value='default'), DeclareLaunchArgument('enable_point_cloud', default_value='true'), DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'), DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), DeclareLaunchArgument('cloud_frame_id', default_value=''), DeclareLaunchArgument('connection_delay', default_value='10'), DeclareLaunchArgument('ae_reference_stream', default_value='depth'), # depth or color DeclareLaunchArgument('ae_strategy', default_value='motion'), # default or motion DeclareLaunchArgument('color_width', default_value='848'), DeclareLaunchArgument('color_height', default_value='530'), DeclareLaunchArgument('color_fps', default_value='10'), DeclareLaunchArgument('color_format', default_value='YUYV'), DeclareLaunchArgument('enable_color', default_value='true'), DeclareLaunchArgument('enable_left_color', default_value='true'), DeclareLaunchArgument('enable_right_color', default_value='true'), DeclareLaunchArgument('color_qos', default_value='default'), DeclareLaunchArgument('color_camera_info_qos', default_value='default'), DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'), DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270 DeclareLaunchArgument('color_flip', default_value='false'), DeclareLaunchArgument('color_mirror', default_value='false'), DeclareLaunchArgument('color_ae_roi_left', default_value='-1'), DeclareLaunchArgument('color_ae_roi_right', default_value='-1'), DeclareLaunchArgument('color_ae_roi_top', default_value='-1'), DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'), 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('enable_color_auto_exposure', default_value='true'), DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'), DeclareLaunchArgument('color_brightness', default_value='-1'), DeclareLaunchArgument('color_sharpness', default_value='-1'), DeclareLaunchArgument('color_gamma', default_value='-1'), DeclareLaunchArgument('color_saturation', default_value='-1'), DeclareLaunchArgument('color_contrast', default_value='-1'), DeclareLaunchArgument('color_hue', default_value='-1'), DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3 DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising. #Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support. DeclareLaunchArgument('depth_width', default_value='848'), DeclareLaunchArgument('depth_height', default_value='530'), DeclareLaunchArgument('depth_decimation_factor', default_value='1'), DeclareLaunchArgument('depth_fps', default_value='10'), 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('enable_depth_auto_exposure_priority', default_value='false'), DeclareLaunchArgument('depth_precision', default_value=''), DeclareLaunchArgument('depth_rotation', default_value='-1'),#depth rotation degree : 0, 90, 180, 270 DeclareLaunchArgument('depth_flip', default_value='false'), DeclareLaunchArgument('depth_mirror', default_value='false'), DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'), DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'), DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'), DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'), DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'), DeclareLaunchArgument('left_ir_width', default_value='848'), DeclareLaunchArgument('left_ir_height', default_value='530'), DeclareLaunchArgument('left_ir_decimation_factor', default_value='1'), DeclareLaunchArgument('left_ir_fps', default_value='10'), DeclareLaunchArgument('left_ir_format', default_value='Y8'), DeclareLaunchArgument('enable_left_ir', default_value='false'), DeclareLaunchArgument('left_ir_qos', default_value='default'), DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270 DeclareLaunchArgument('left_ir_flip', default_value='false'), DeclareLaunchArgument('left_ir_mirror', default_value='false'), DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'), DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'), DeclareLaunchArgument('right_ir_width', default_value='848'), DeclareLaunchArgument('right_ir_height', default_value='530'), DeclareLaunchArgument('right_ir_decimation_factor', default_value='1'), DeclareLaunchArgument('right_ir_fps', default_value='10'), 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('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270 DeclareLaunchArgument('right_ir_flip', default_value='false'), DeclareLaunchArgument('right_ir_mirror', default_value='false'), DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'), DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'), 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('enable_accel_data_correction', default_value='true'), DeclareLaunchArgument('accel_rate', default_value='200hz'), DeclareLaunchArgument('accel_range', default_value='4g'), DeclareLaunchArgument('enable_gyro', default_value='false'), DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'), DeclareLaunchArgument('gyro_rate', default_value='200hz'), DeclareLaunchArgument('gyro_range', default_value='1000dps'), DeclareLaunchArgument('linear_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('device_access_mode', default_value='Default'), # Default, EA or CA . only for 335le DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('log_file_name', default_value=''), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'), 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('software_trigger_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('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_hardware_noise_removal_filter', default_value='false'), DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'), DeclareLaunchArgument('enable_spatial_filter', default_value='false'), DeclareLaunchArgument('enable_temporal_filter', default_value='false'), DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'), DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), DeclareLaunchArgument('enable_spatial_fast_filter', default_value='false'), DeclareLaunchArgument('enable_spatial_moderate_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('hardware_noise_removal_filter_threshold', default_value='-1.0'), 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('spatial_fast_filter_radius', default_value='-1'), DeclareLaunchArgument('spatial_moderate_filter_diff_threshold', default_value='-1'), DeclareLaunchArgument('spatial_moderate_filter_magnitude', default_value='-1'), DeclareLaunchArgument('spatial_moderate_filter_radius', default_value='-1'), DeclareLaunchArgument('align_mode', default_value='SW'), DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds DeclareLaunchArgument('depth_precision', default_value=''), DeclareLaunchArgument('device_preset', default_value='Default'), # Default, High Accuracy, Close Range High Accuracy, Factory Calib, Dual Color Streams, Custom DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), DeclareLaunchArgument('enable_sync_host_time', default_value='true'), DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system DeclareLaunchArgument('enable_color_undistortion', default_value='false'), DeclareLaunchArgument('config_file_path', default_value=''), DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('enable_firmware_log', default_value='false'), DeclareLaunchArgument('disparity_range_mode', default_value='-1'), DeclareLaunchArgument('disparity_search_offset', default_value='-1'), DeclareLaunchArgument('disparity_offset_config', default_value='false'), DeclareLaunchArgument('offset_index0', default_value='-1'), DeclareLaunchArgument('offset_index1', default_value='-1'), DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'), DeclareLaunchArgument('interleave_frame_enable', default_value='false'), DeclareLaunchArgument('interleave_skip_enable', default_value='false'), DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'), DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'), DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'), DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'), DeclareLaunchArgument('show_fps_enable', default_value='false'), #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"]'), #infra1 DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), #infra2 DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), DeclareLaunchArgument('intra_camera_sync_reference', default_value=""),#Start, Middle or End ] 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="log", ) ] 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="log", ) ]) ] return LaunchDescription( args + [ OpaqueFunction(function=lambda context: create_node_action(context, args)) ] )