mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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90 lines
3.7 KiB
Python
90 lines
3.7 KiB
Python
import os
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import time
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
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from launch.event_handlers import OnProcessExit
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.actions import DeclareLaunchArgument
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from launch.conditions import UnlessCondition, IfCondition
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import TextSubstitution
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory("orbbec_camera")
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launch_file_dir = os.path.join(package_dir, "launch")
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config_file_dir = os.path.join(package_dir, "config")
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config_file_335_path = os.path.join(config_file_dir, "camera_335_params.yaml")
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config_file_335L_path = os.path.join(config_file_dir, "camera_335L_params.yaml")
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use_intra_process_comms_declare = DeclareLaunchArgument(
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'use_intra_process_comms', default_value='false',
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)
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attach_to_shared_component_container_declare = DeclareLaunchArgument(
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'attach_to_shared_component_container', default_value='false',
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)
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component_container_name_declare = DeclareLaunchArgument(
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'component_container_name', default_value='shared_orbbec_container'
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)
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attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
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component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
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shared_orbbec_container = Node(
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name=component_container_name_arg,
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package='rclcpp_components',
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executable='component_container_mt',
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output='screen',
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condition=UnlessCondition(attach_to_shared_component_container_arg)
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)
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attach_to_shared_component_container_arg = TextSubstitution(text='true')
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G0_41 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
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),
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launch_arguments={
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"camera_name": "G0_41",
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"usb_port": "2-7",
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"device_num": "2",
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"sync_mode": "primary",
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'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
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'attach_to_shared_component_container': attach_to_shared_component_container_arg,
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'component_container_name': component_container_name_arg,
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"config_file_path": config_file_335_path,
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}.items(),
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)
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G1_50 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
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),
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launch_arguments={
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"camera_name": "G1_50",
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"usb_port": "2-1",
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"device_num": "2",
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"sync_mode": "secondary_synced",
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'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
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'attach_to_shared_component_container': attach_to_shared_component_container_arg,
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'component_container_name': component_container_name_arg,
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"config_file_path": config_file_335_path,
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}.items(),
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)
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# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
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ld = LaunchDescription([
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use_intra_process_comms_declare,
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attach_to_shared_component_container_declare,
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component_container_name_declare,
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shared_orbbec_container,
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G1_50,
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TimerAction(period=3.0, actions=[G0_41]),
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])
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return ld
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