X-lanni
150 lines
7.7 KiB
Python
150 lines
7.7 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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from launch_ros.actions import Node
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import os
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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('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='1280'),
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DeclareLaunchArgument('color_height', default_value='800'),
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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('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('depth_width', default_value='1280'),
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DeclareLaunchArgument('depth_height', default_value='800'),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument('depth_format', default_value='Y16'),
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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='15'),
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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('ir_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
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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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# Depth work mode support is as follows:
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# Unbinned Dense Default
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# Unbinned Sparse Default
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# Binned Sparse Default
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DeclareLaunchArgument('depth_work_mode', default_value=''),
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DeclareLaunchArgument('sync_mode', default_value='standalone'),
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DeclareLaunchArgument('depth_delay_us', default_value='0'),
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DeclareLaunchArgument('color_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
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DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
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DeclareLaunchArgument('enable_frame_sync', default_value='true'),
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DeclareLaunchArgument('ordered_pc', default_value='false'),
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DeclareLaunchArgument('use_hardware_time', default_value='true'),
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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('retry_on_usb3_detection_failure', default_value='false'),
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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('enable_noise_removal_filter', default_value='false'),
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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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# get ROS_DISTRO
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ros_distro = os.environ["ROS_DISTRO"]
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if ros_distro == "foxy":
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return LaunchDescription(
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args
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+ [
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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=parameters,
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output="screen",
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)
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]
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)
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# Define the ComposableNode
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else:
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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")), container]
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)
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]
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)
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return ld
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