import os import yaml from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, GroupAction, OpaqueFunction from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer, Node, PushRosNamespace 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("[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 if 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", 'bag_record_filename', 'bag_filename', "depth_colorizer_mode"} 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="false"), DeclareLaunchArgument("serial_number", default_value=""), DeclareLaunchArgument("usb_port", default_value=""), DeclareLaunchArgument("device_num", default_value="1"), DeclareLaunchArgument("bag_record_filename", default_value=""), DeclareLaunchArgument("bag_filename", default_value=""), DeclareLaunchArgument("bag_loop", default_value="false"), DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2 DeclareLaunchArgument("product_id", default_value=""), DeclareLaunchArgument("enable_point_cloud", default_value="true"), DeclareLaunchArgument("cloud_frame_id", default_value=""), DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"), DeclareLaunchArgument("point_cloud_qos", default_value="default"), DeclareLaunchArgument("connection_delay", default_value="100"), DeclareLaunchArgument("color_width", default_value="1280"), DeclareLaunchArgument("color_height", default_value="800"), DeclareLaunchArgument("color_fps", default_value="30"), DeclareLaunchArgument("color_format", default_value="MJPG"), DeclareLaunchArgument("enable_color", default_value="true"), DeclareLaunchArgument("color_flip", 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("color_ae_max_exposure", default_value="-1"), DeclareLaunchArgument("color_ae_max_gain", 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("color_brightness", default_value="-1"), DeclareLaunchArgument("color_denoising_level", default_value="-1"), DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument("depth_width", default_value="1280"), DeclareLaunchArgument("depth_height", default_value="800"), DeclareLaunchArgument("depth_fps", default_value="30"), DeclareLaunchArgument("depth_format", default_value="Y16"), DeclareLaunchArgument("enable_depth", default_value="true"), DeclareLaunchArgument("depth_flip", default_value="false"), DeclareLaunchArgument("depth_qos", default_value="default"), DeclareLaunchArgument("depth_camera_info_qos", default_value="default"), DeclareLaunchArgument("ir_width", default_value="640"), DeclareLaunchArgument("ir_height", default_value="400"), DeclareLaunchArgument("ir_fps", default_value="15"), DeclareLaunchArgument("ir_format", default_value="Y8"), DeclareLaunchArgument("enable_ir", default_value="true"), DeclareLaunchArgument("ir_flip", 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_ae_max_exposure", default_value="-1"), DeclareLaunchArgument("ir_exposure", default_value="-1"), DeclareLaunchArgument("ir_gain", 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="100hz"), DeclareLaunchArgument("accel_range", default_value="4g"), DeclareLaunchArgument("enable_gyro", default_value="false"), DeclareLaunchArgument("gyro_rate", default_value="100hz"), 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("log_level", default_value="info"), DeclareLaunchArgument("log_file_name", default_value=""), DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"), DeclareLaunchArgument("enable_d2c_viewer", default_value="false"), DeclareLaunchArgument("depth_colorizer_mode", default_value="none"), DeclareLaunchArgument("disparity_to_depth_mode", default_value="SW"), DeclareLaunchArgument("enable_ldp", default_value="true"), DeclareLaunchArgument("enable_decimation_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_disparity_to_depth", default_value="true"), DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"), DeclareLaunchArgument("decimation_filter_scale", 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="200"), 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=""), # Depth work mode support is as follows: # Unbinned Dense Default # Unbinned Sparse Default # Binned Sparse Default DeclareLaunchArgument("depth_work_mode", default_value="Unbinned Dense Default"), 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="false"), DeclareLaunchArgument("enable_frame_sync", default_value="true"), DeclareLaunchArgument("ordered_pc", default_value="false"), DeclareLaunchArgument("enable_depth_scale", default_value="true"), DeclareLaunchArgument("align_mode", default_value="HW"), DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"), DeclareLaunchArgument("laser_energy_level", default_value="-1"), DeclareLaunchArgument("enable_heartbeat", default_value="false"), DeclareLaunchArgument("enable_firmware_log", default_value="false"), DeclareLaunchArgument("time_domain", default_value="global"), DeclareLaunchArgument("timestamp_clock_type", default_value=""), # realtime or monotonic, default is realtime. DeclareLaunchArgument("enable_frame_drop_log", default_value="false"), DeclareLaunchArgument("frame_timestamp_csv_file", default_value=""), DeclareLaunchArgument("enable_color_undistortion", default_value="false"), DeclareLaunchArgument("enable_depth_undistortion", default_value="false"), DeclareLaunchArgument("enable_ir_undistortion", default_value="false"), DeclareLaunchArgument("config_file_path", default_value=""), ] 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", ) ] 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))] )