mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 03:00:20 +08:00
106 lines
5.3 KiB
Python
106 lines
5.3 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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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('enable_point_cloud', default_value='true'),
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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='640'),
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DeclareLaunchArgument('color_height', default_value='480'),
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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('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('depth_width', default_value='640'),
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DeclareLaunchArgument('depth_height', default_value='400'),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument('depth_format', default_value='Y14'),
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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('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='30'),
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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('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('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('liner_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('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_soft_filter', 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('enable_frame_timestamp_csv', default_value='false'),
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DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
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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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# 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='screen',
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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')),
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container
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])
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]
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)
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return ld
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