mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 19:20:20 +08:00
184 lines
9.1 KiB
Python
184 lines
9.1 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction
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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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import yaml
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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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skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
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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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# 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('vendor_id', default_value='0x2bc5'),
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DeclareLaunchArgument('product_id', default_value=''),
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DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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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('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='640'),
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DeclareLaunchArgument('color_height', default_value='480'),
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DeclareLaunchArgument('color_fps', default_value='10'),
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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('flip_color', 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('enable_color_auto_exposure_priority', default_value='false'),
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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_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_saturation', default_value='-1'),
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DeclareLaunchArgument('color_contrast', default_value='-1'),
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DeclareLaunchArgument('color_gamma', default_value='-1'),
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DeclareLaunchArgument('color_hue', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='640'),
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DeclareLaunchArgument('depth_height', default_value='400'),
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DeclareLaunchArgument('depth_fps', default_value='10'),
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DeclareLaunchArgument('depth_format', default_value='Y11'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('flip_depth', default_value='false'),
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DeclareLaunchArgument('min_depth_limit', default_value='0'),
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DeclareLaunchArgument('max_depth_limit', default_value='0'),
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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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# /config/depthfilter/Openni_device.json，need config path.
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DeclareLaunchArgument('depth_filter_config', default_value=''),
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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='10'),
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DeclareLaunchArgument('ir_format', default_value='Y10'),
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DeclareLaunchArgument('enable_ir', default_value='true'),
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DeclareLaunchArgument('flip_ir', 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_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', 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='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
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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('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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DeclareLaunchArgument('industry_mode', default_value=''),
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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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#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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#ir image transport plugins
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DeclareLaunchArgument('ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
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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="screen",
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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="screen",
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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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