mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 19:20:20 +08:00
353 lines
21 KiB
Python
353 lines
21 KiB
Python
import os
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import yaml
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
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from launch_ros.descriptions import ComposableNode
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def load_yaml(file_path):
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try:
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with open(file_path, 'r') as f:
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return yaml.safe_load(f)
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except Exception as e:
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print(f"[orbbec_camera] Failed to load yaml '{file_path}': {e}")
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return {}
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def merge_params(default_params, yaml_params):
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if not isinstance(yaml_params, dict):
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print(f"[orbbec_camera] YAML parameters should be a dictionary.")
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return default_params
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for key, value in yaml_params.items():
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default_params[key] = value
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return default_params
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def resolve_config_file_path(config_file_path: str) -> str:
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if not config_file_path:
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return config_file_path
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if os.path.isabs(config_file_path) and os.path.exists(config_file_path):
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return config_file_path
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if os.path.exists(config_file_path):
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return config_file_path
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config_dir = os.path.normpath(os.path.join(os.path.dirname(__file__), '..', 'config'))
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candidate = os.path.join(config_dir, config_file_path)
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if os.path.exists(candidate):
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return candidate
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return config_file_path
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def convert_value(value):
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if isinstance(value, str):
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try:
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return int(value)
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except ValueError:
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pass
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try:
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return float(value)
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except ValueError:
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pass
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if value.lower() == 'true':
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return True
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elif value.lower() == 'false':
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return False
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return value
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def load_parameters(context, args):
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default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
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config_file_path = resolve_config_file_path(
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LaunchConfiguration('config_file_path').perform(context)
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)
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if config_file_path:
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yaml_params = load_yaml(config_file_path)
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default_params = merge_params(default_params, yaml_params)
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skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
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result = {}
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for key, value in default_params.items():
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if key in skip_convert:
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result[key] = value
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elif 'enable_pub_plugins' in key:
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if isinstance(value, str):
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if value.startswith('[') and value.endswith(']'):
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try:
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result[key] = yaml.safe_load(value)
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except:
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result[key] = [value]
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else:
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result[key] = [value]
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elif isinstance(value, list):
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result[key] = value
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else:
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result[key] = [str(value)]
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else:
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result[key] = convert_value(value)
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return result
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def generate_launch_description():
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args = [
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DeclareLaunchArgument('device_type', default_value='camera'),
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='false'),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('bag_record_filename', default_value=''),
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DeclareLaunchArgument('bag_filename', default_value=''),
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DeclareLaunchArgument('bag_loop', default_value='false'),
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DeclareLaunchArgument('upgrade_firmware', default_value=''),
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DeclareLaunchArgument('preset_firmware_path', default_value=''),
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DeclareLaunchArgument('load_config_json_file_path', default_value=''),
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DeclareLaunchArgument('export_config_json_file_path', default_value=''),
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DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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DeclareLaunchArgument('connection_delay', default_value='10'),
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DeclareLaunchArgument('ae_reference_stream', default_value='depth'), # depth or color
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DeclareLaunchArgument('ae_strategy', default_value='motion'), # default or motion
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DeclareLaunchArgument('color_width', default_value='848'),
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DeclareLaunchArgument('color_height', default_value='530'),
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DeclareLaunchArgument('color_fps', default_value='30'),
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DeclareLaunchArgument('color_format', default_value='YUYV'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
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DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('color_flip', default_value='false'),
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DeclareLaunchArgument('color_mirror', default_value='false'),
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DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('color_brightness', default_value='-1'),
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DeclareLaunchArgument('color_sharpness', default_value='-1'),
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DeclareLaunchArgument('color_gamma', default_value='-1'),
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DeclareLaunchArgument('color_saturation', default_value='-1'),
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DeclareLaunchArgument('color_contrast', default_value='-1'),
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DeclareLaunchArgument('color_hue', default_value='-1'),
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DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
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DeclareLaunchArgument('color_anti_flicker', default_value='false'),
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DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
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DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
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DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising.
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#Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support.
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DeclareLaunchArgument('depth_width', default_value='848'),
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DeclareLaunchArgument('depth_height', default_value='530'),
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DeclareLaunchArgument('depth_decimation_factor', default_value='1'),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument('depth_format', default_value='Y16'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('depth_qos', default_value='default'),
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument('depth_rotation', default_value='-1'),#depth rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('depth_flip', default_value='false'),
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DeclareLaunchArgument('depth_mirror', default_value='false'),
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DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
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DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'),
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DeclareLaunchArgument('left_ir_width', default_value='848'),
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DeclareLaunchArgument('left_ir_height', default_value='530'),
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DeclareLaunchArgument('left_ir_decimation_factor', default_value='1'),
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DeclareLaunchArgument('left_ir_fps', default_value='30'),
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DeclareLaunchArgument('left_ir_format', default_value='Y8'),
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DeclareLaunchArgument('enable_left_ir', default_value='false'),
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DeclareLaunchArgument('left_ir_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('left_ir_flip', default_value='false'),
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DeclareLaunchArgument('left_ir_mirror', default_value='false'),
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DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('right_ir_width', default_value='848'),
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DeclareLaunchArgument('right_ir_height', default_value='530'),
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DeclareLaunchArgument('right_ir_decimation_factor', default_value='1'),
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DeclareLaunchArgument('right_ir_fps', default_value='30'),
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DeclareLaunchArgument('right_ir_format', default_value='Y8'),
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DeclareLaunchArgument('enable_right_ir', default_value='false'),
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DeclareLaunchArgument('right_ir_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('right_ir_flip', default_value='false'),
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DeclareLaunchArgument('right_ir_mirror', default_value='false'),
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DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_brightness', default_value='-1'),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument('color_info_url', default_value=''),
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DeclareLaunchArgument('log_level', default_value='info'),
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DeclareLaunchArgument('log_file_name', default_value=''),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
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DeclareLaunchArgument('sync_mode', default_value='standalone'),
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DeclareLaunchArgument('depth_delay_us', default_value='0'),
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DeclareLaunchArgument('color_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
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DeclareLaunchArgument('software_trigger_enabled', default_value='true'),
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DeclareLaunchArgument('frames_per_trigger', default_value='1'),
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DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
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DeclareLaunchArgument('enable_frame_sync', default_value='true'),
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DeclareLaunchArgument('ordered_pc', default_value='false'),
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DeclareLaunchArgument('enable_depth_scale', default_value='true'),
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DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
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DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
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DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
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DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='true'),
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DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
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DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
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DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
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DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
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DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
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DeclareLaunchArgument('enable_spatial_fast_filter', default_value='false'),
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DeclareLaunchArgument('enable_spatial_moderate_filter', default_value='false'),
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DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
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DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
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DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
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DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
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DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
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DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
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DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
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DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
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DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
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DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
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DeclareLaunchArgument('spatial_fast_filter_radius', default_value='-1'),
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DeclareLaunchArgument('spatial_moderate_filter_diff_threshold', default_value='-1'),
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DeclareLaunchArgument('spatial_moderate_filter_magnitude', default_value='-1'),
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DeclareLaunchArgument('spatial_moderate_filter_radius', default_value='-1'),
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DeclareLaunchArgument('align_mode', default_value='SW'),
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DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
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DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument('device_preset', default_value='Default'), # Default, High Accuracy, Close Range High Accuracy, Factory Calib, Dual Color Streams, Custom
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DeclareLaunchArgument('color_preset', default_value='Default'), # color preset: Default, Warm Biased AWB, Cold Biased AWB
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DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
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DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
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DeclareLaunchArgument('sync_io_voltage_level', default_value='-1'),
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DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
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DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
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DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
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DeclareLaunchArgument('enable_frame_drop_log', default_value='false'),
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DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
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DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
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DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
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DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
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DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
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DeclareLaunchArgument('config_file_path', default_value=''),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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DeclareLaunchArgument('enable_firmware_log', default_value='false'),
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DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
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DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
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DeclareLaunchArgument('disparity_offset_config', default_value='false'),
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DeclareLaunchArgument('offset_index0', default_value='-1'),
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DeclareLaunchArgument('offset_index1', default_value='-1'),
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DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
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DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'),
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DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
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DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
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DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
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DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),
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DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'),
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DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
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DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
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DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'),
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DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'),
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DeclareLaunchArgument('show_fps_enable', default_value='false'),
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#color image transport plugins
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DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
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#depth image transport plugins
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DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw"]'),
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#infra1
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DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
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#infra2
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DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
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DeclareLaunchArgument('intra_camera_sync_reference', default_value=""),#Start, Middle or End
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]
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def get_params(context, args):
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return [load_parameters(context, args)]
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def create_node_action(context, args):
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params = get_params(context, args)
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ros_distro = os.environ.get("ROS_DISTRO", "humble")
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if ros_distro == "foxy":
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return [
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Node(
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package="orbbec_camera",
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executable="orbbec_camera_node",
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name="ob_camera_node",
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namespace=LaunchConfiguration("camera_name"),
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parameters=params,
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output="log",
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)
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]
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else:
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return [
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GroupAction([
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PushRosNamespace(LaunchConfiguration("camera_name")),
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ComposableNodeContainer(
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name="camera_container",
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namespace="",
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package="rclcpp_components",
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executable="component_container",
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composable_node_descriptions=[
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ComposableNode(
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package="orbbec_camera",
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plugin="orbbec_camera::OBCameraNodeDriver",
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name=LaunchConfiguration("camera_name"),
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parameters=params,
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),
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],
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output="log",
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)
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])
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]
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return LaunchDescription(
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args + [
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OpaqueFunction(function=lambda context: create_node_action(context, args))
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]
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)
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