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): 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: (value if key in skip_convert else convert_value(value)) for key, value in default_params.items() } def generate_launch_description(): args = [ DeclareLaunchArgument('camera_name', default_value='camera'), DeclareLaunchArgument('depth_registration', default_value='true'), DeclareLaunchArgument('serial_number', default_value=''), DeclareLaunchArgument('usb_port', default_value=''), DeclareLaunchArgument('device_num', default_value='1'), DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2 DeclareLaunchArgument('point_cloud_qos', default_value='default'), DeclareLaunchArgument('enable_point_cloud', default_value='true'), DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), DeclareLaunchArgument('cloud_frame_id', default_value=''), DeclareLaunchArgument('connection_delay', default_value='10'), DeclareLaunchArgument('color_width', default_value='0'), DeclareLaunchArgument('color_height', default_value='0'), DeclareLaunchArgument('color_fps', default_value='0'), DeclareLaunchArgument('color_format', default_value='ANY'), DeclareLaunchArgument('enable_color', default_value='true'), DeclareLaunchArgument('color_qos', default_value='default'), DeclareLaunchArgument('color_camera_info_qos', default_value='default'), DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), 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('depth_width', default_value='0'), DeclareLaunchArgument('depth_height', default_value='0'), DeclareLaunchArgument('depth_fps', default_value='0'), DeclareLaunchArgument('depth_format', default_value='ANY'), DeclareLaunchArgument('enable_depth', default_value='true'), DeclareLaunchArgument('depth_qos', default_value='default'), DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), DeclareLaunchArgument('left_ir_width', default_value='0'), DeclareLaunchArgument('left_ir_height', default_value='0'), DeclareLaunchArgument('left_ir_fps', default_value='0'), DeclareLaunchArgument('left_ir_format', default_value='ANY'), DeclareLaunchArgument('enable_left_ir', default_value='false'), DeclareLaunchArgument('left_ir_qos', default_value='default'), DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), DeclareLaunchArgument('right_ir_width', default_value='0'), DeclareLaunchArgument('right_ir_height', default_value='0'), DeclareLaunchArgument('right_ir_fps', default_value='0'), DeclareLaunchArgument('right_ir_format', default_value='ANY'), DeclareLaunchArgument('enable_right_ir', default_value='false'), DeclareLaunchArgument('right_ir_qos', default_value='default'), DeclareLaunchArgument('right_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('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('accel_rate', default_value='200hz'), DeclareLaunchArgument('accel_range', default_value='4g'), DeclareLaunchArgument('enable_gyro', default_value='false'), DeclareLaunchArgument('gyro_rate', default_value='200hz'), DeclareLaunchArgument('gyro_range', default_value='1000dps'), DeclareLaunchArgument('liner_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('log_level', default_value='none'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_hardware_d2d', default_value='true'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), 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('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_noise_removal_filter', default_value='true'), DeclareLaunchArgument('enable_spatial_filter', default_value='false'), DeclareLaunchArgument('enable_temporal_filter', default_value='false'), DeclareLaunchArgument('enable_hole_filling_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('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('align_mode', default_value='SW'), DeclareLaunchArgument('diagnostic_period', default_value='1.0'), DeclareLaunchArgument('enable_laser', default_value='true'), DeclareLaunchArgument('depth_precision', default_value=''), DeclareLaunchArgument('device_preset', default_value='Default'), DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'), DeclareLaunchArgument('enable_sync_host_time', default_value='true'), DeclareLaunchArgument('time_domain', default_value='device'), DeclareLaunchArgument('enable_color_undistortion', default_value='false'), DeclareLaunchArgument('config_file_path', default_value=''), DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'), DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'), DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser' 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_laser_control', default_value='1'),#interleave_hdr_param DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'), DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'), DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'), DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'), DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'), DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'), DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'), DeclareLaunchArgument('laser_index0_laser_control', default_value='1'), DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'), DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'), ] 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)) ] )