mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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81 lines
2.9 KiB
Python
81 lines
2.9 KiB
Python
import os
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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.launch_description_sources import PythonLaunchDescriptionSource
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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_path = os.path.join(config_file_dir, "camera_params.yaml")
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front_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "front_camera",
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"usb_port": "gmsl2-1",
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"device_num": "2",
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"sync_mode": "hardware_triggering",
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"config_file_path": config_file_path,
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"enable_gmsl_trigger": "true",
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}.items(),
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)
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# left_camera = IncludeLaunchDescription(
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# PythonLaunchDescriptionSource(
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# os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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# ),
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# launch_arguments={
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# "camera_name": "left_camera",
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# "usb_port": "gmsl2-2",
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# "device_num": "3",
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# "sync_mode": "secondary",
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# "config_file_path": config_file_path,
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# "enable_gmsl_trigger": "false",
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# }.items(),
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# )
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right_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "right_camera",
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"usb_port": "gmsl2-3",
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"device_num": "2",
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"sync_mode": "hardware_triggering",
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"config_file_path": config_file_path,
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"enable_gmsl_trigger": "false",
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}.items(),
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)
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# rear_camera = IncludeLaunchDescription(
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# PythonLaunchDescriptionSource(
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# os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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# ),
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# launch_arguments={
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# "camera_name": "rear_camera",
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# "usb_port": "gmsl2-4",
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# "device_num": "3",
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# "sync_mode": "secondary",
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# "config_file_path": config_file_path,
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# "enable_gmsl_trigger": "false",
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# }.items(),
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# )
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# Launch description
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ld = LaunchDescription(
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[
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# TimerAction(period=0.5, actions=[GroupAction([rear_camera])]),
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TimerAction(period=0.5, actions=[GroupAction([right_camera])]),
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# TimerAction(period=0.5, actions=[GroupAction([left_camera])]),
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TimerAction(period=0.5, actions=[GroupAction([front_camera])]),
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# The primary camera should be launched at last
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]
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)
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return ld
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