feat(gemini2): add OrbbecSDK_ROS2/

OrbbecSDK_ROS2/orbbec_description/launch/launch_utils.py

@@ -0,0 +1,33 @@
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import xacro
+import tempfile
+
+def to_urdf(xacro_path, parameters=None):
+    """Convert the given xacro file to URDF file.
+    * xacro_path -- the path to the xacro file
+    * parameters -- to be used when xacro file is parsed.
+    """
+    with tempfile.NamedTemporaryFile(prefix="%s_" % os.path.basename(xacro_path), delete=False) as xacro_file:
+        urdf_path = xacro_file.name
+
+    # open and process file
+    doc = xacro.process_file(xacro_path, mappings=parameters)
+    # open the output file
+    with open(urdf_path, 'w') as urdf_file:
+        urdf_file.write(doc.toprettyxml(indent='  '))
+
+    return urdf_path

OrbbecSDK_ROS2/orbbec_description/launch/view_model.launch.py

@@ -0,0 +1,55 @@
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# /* Author: Doron Hirshberg */
+import os
+import launch
+from launch_ros.actions import Node
+import launch.events
+from ament_index_python.packages import get_package_share_directory
+import sys
+sys.path.append(os.path.dirname(os.path.realpath(__file__)))
+from launch_utils import to_urdf
+
+
+def generate_launch_description():
+    available_urdf_files = [f for f in os.listdir(os.path.join(get_package_share_directory('orbbec_description'), 'urdf'))]
+    params = dict([aa for aa in [aa.split(':=') for aa in sys.argv] if len(aa) == 2])
+    if ('model' not in params or params['model'] not in available_urdf_files):
+        print('USAGE:')
+        print('ros2 launch orbbec_description view_model.launch.py model:=<model>')
+        print('Available argumants for <model> are as follows:')
+        print('\n'.join(available_urdf_files))
+        return launch.LaunchDescription()
+
+    rviz_config_dir = os.path.join(get_package_share_directory('orbbec_description'), 'rviz', 'urdf.rviz')
+    xacro_path = os.path.join(get_package_share_directory('orbbec_description'), 'urdf', params['model'])
+    urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', rviz_config_dir],
+        parameters=[{'use_sim_time': False}]
+        )
+    model_node = Node(
+        name='model_node',
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        namespace='',
+        output='screen',
+        arguments=[urdf]
+        )
+    return launch.LaunchDescription([rviz_node, model_node])