mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 19:20:20 +08:00
189 lines
11 KiB
Python
189 lines
11 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace
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from launch.actions import GroupAction
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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from launch_ros.actions import Node
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import os
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def generate_launch_description():
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# Declare arguments
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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("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("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="720"),
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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_exposure", default_value="-1"),
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DeclareLaunchArgument("color_gain", default_value="-1"),
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DeclareLaunchArgument("color_brightness", 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("depth_width", default_value="640"),
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DeclareLaunchArgument("depth_height", default_value="576"),
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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="576"),
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DeclareLaunchArgument("ir_fps", default_value="30"),
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DeclareLaunchArgument("ir_format", default_value="Y16"),
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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="true"),
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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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# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
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# If you do not want to automatically enumerate network devices,
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# you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
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DeclareLaunchArgument("enumerate_net_device", default_value="true"),
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DeclareLaunchArgument("net_device_ip", default_value=""),
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DeclareLaunchArgument("net_device_port", default_value="0"),
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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("enable_ldp", default_value="true"),
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DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
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DeclareLaunchArgument('enable_decimation_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_hole_filling_filter', default_value='false'),
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DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
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DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='10'),
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DeclareLaunchArgument('noise_removal_filter_max_size', default_value='50'),
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DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
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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("threshold_filter_max", default_value="-1"),
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DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
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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('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
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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_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_ir_undistortion', default_value='false'),
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DeclareLaunchArgument('device_preset', default_value='Custom'),
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# Force IP parameters
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DeclareLaunchArgument("force_ip_enable", default_value="false"), # Whether to enable Force IP function
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DeclareLaunchArgument("force_ip_mac", default_value=""), # If multiple cameras are connected, specify target MAC (e.g. "54:14:FD:06:07:DA")
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DeclareLaunchArgument("force_ip_address", default_value="192.168.1.10"), # Static IP address to assign
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DeclareLaunchArgument("force_ip_subnet_mask", default_value="255.255.255.0"), # Subnet mask used for static IP
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DeclareLaunchArgument("force_ip_gateway", default_value="192.168.1.1"), # Gateway address used for static IP
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]
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# Node configuration
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parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
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# get ROS_DISTRO
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ros_distro = os.environ["ROS_DISTRO"]
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if ros_distro == "foxy":
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return LaunchDescription(
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args
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+ [
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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=parameters,
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output="log",
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)
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]
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)
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# Define the ComposableNode
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else:
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# Define the ComposableNode
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compose_node = 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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namespace="",
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parameters=parameters,
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)
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# Define the ComposableNodeContainer
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container = 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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compose_node,
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],
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output="log",
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)
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# Launch description
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ld = LaunchDescription(
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args
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+ [
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GroupAction(
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[PushRosNamespace(LaunchConfiguration("camera_name")), container]
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)
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]
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)
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return ld
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