mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 19:20:20 +08:00
236 lines
12 KiB
Python
236 lines
12 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, GroupAction, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import ComposableNodeContainer, Node, PushRosNamespace
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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("[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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if 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"}
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return {
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key: (value if key in skip_convert else convert_value(value))
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for key, value in default_params.items()
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}
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def generate_launch_description():
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args = [
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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("uvc_backend", default_value="libuvc"), # libuvc or v4l2
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DeclareLaunchArgument("product_id", default_value=""),
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DeclareLaunchArgument("enable_point_cloud", default_value="true"),
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DeclareLaunchArgument("cloud_frame_id", default_value=""),
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DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
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DeclareLaunchArgument("point_cloud_qos", default_value="default"),
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DeclareLaunchArgument("connection_delay", default_value="100"),
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DeclareLaunchArgument("color_width", default_value="1280"),
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DeclareLaunchArgument("color_height", default_value="800"),
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DeclareLaunchArgument("color_fps", default_value="30"),
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DeclareLaunchArgument("color_format", default_value="MJPG"),
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DeclareLaunchArgument("enable_color", default_value="true"),
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DeclareLaunchArgument("color_flip", default_value="false"),
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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", default_value="true"),
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DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
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DeclareLaunchArgument("color_ae_max_gain", 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("color_brightness", default_value="-1"),
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DeclareLaunchArgument("color_denoising_level", default_value="-1"),
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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("depth_width", default_value="1280"),
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DeclareLaunchArgument("depth_height", default_value="800"),
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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_flip", default_value="false"),
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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("ir_width", default_value="640"),
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DeclareLaunchArgument("ir_height", default_value="400"),
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DeclareLaunchArgument("ir_fps", default_value="15"),
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DeclareLaunchArgument("ir_format", default_value="Y8"),
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DeclareLaunchArgument("enable_ir", default_value="true"),
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DeclareLaunchArgument("ir_flip", default_value="false"),
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DeclareLaunchArgument("ir_qos", default_value="default"),
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DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
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DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
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DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
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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_brightness", default_value="-1"),
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DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
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DeclareLaunchArgument("enable_accel", default_value="false"),
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DeclareLaunchArgument("accel_rate", default_value="100hz"),
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DeclareLaunchArgument("accel_range", default_value="4g"),
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DeclareLaunchArgument("enable_gyro", default_value="false"),
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DeclareLaunchArgument("gyro_rate", default_value="100hz"),
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DeclareLaunchArgument("gyro_range", default_value="1000dps"),
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DeclareLaunchArgument("linear_accel_cov", default_value="0.01"),
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DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
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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="none"),
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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="SW"),
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DeclareLaunchArgument("enable_ldp", default_value="true"),
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DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
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DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
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DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
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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("decimation_filter_scale", 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("noise_removal_filter_min_diff", default_value="256"),
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DeclareLaunchArgument("noise_removal_filter_max_size", default_value="200"),
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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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# Depth work mode support is as follows:
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# Unbinned Dense Default
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# Unbinned Sparse Default
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# Binned Sparse Default
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DeclareLaunchArgument("depth_work_mode", default_value="Unbinned Dense Default"),
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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="false"),
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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("align_mode", default_value="HW"),
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DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
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DeclareLaunchArgument("laser_energy_level", default_value="-1"),
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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("time_domain", default_value="global"),
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DeclareLaunchArgument("timestamp_clock_type", default_value=""), # realtime or monotonic, default is realtime.
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DeclareLaunchArgument("enable_frame_timestamp_csv", default_value="false"),
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DeclareLaunchArgument("frame_timestamp_csv_file", default_value=""),
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DeclareLaunchArgument("config_file_path", default_value=""),
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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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return [
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GroupAction(
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[
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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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]
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return LaunchDescription(
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args + [OpaqueFunction(function=lambda context: create_node_action(context, args))]
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)
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