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Adding orbecc camera to launch options (#52)
* Adding orbecc camera to launch options Signed-off-by: Steve Macenski <[email protected]> * linting * linting * adding docs * finish --------- Signed-off-by: Steve Macenski <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,218 @@ | ||
| # Copyright (c) 2024 Open Navigation LLC | ||
| # | ||
| # 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. | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, OpaqueFunction | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import ComposableNodeContainer, Node | ||
| from launch_ros.descriptions import ComposableNode | ||
|
|
||
|
|
||
| def convert_value(value): | ||
| if isinstance(value, str): | ||
| try: | ||
| return int(value) | ||
| except ValueError: | ||
| pass | ||
| try: | ||
| return float(value) | ||
| except ValueError: | ||
| pass | ||
| if value.lower() == 'true': | ||
| return True | ||
| elif value.lower() == 'false': | ||
| return False | ||
| return value | ||
|
|
||
|
|
||
| def load_parameters(context, args): | ||
| default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args} | ||
| return { | ||
| key: (convert_value(value)) | ||
| for key, value in default_params.items() | ||
| } | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| args = [ | ||
| DeclareLaunchArgument('depth_registration', default_value='true'), | ||
| DeclareLaunchArgument('serial_number', default_value=''), | ||
| DeclareLaunchArgument('usb_port', default_value=''), | ||
| DeclareLaunchArgument('device_num', default_value='1'), | ||
| DeclareLaunchArgument('point_cloud_qos', default_value='default'), # SENSOR_DATA | ||
| DeclareLaunchArgument('enable_point_cloud', default_value='True'), | ||
| DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), | ||
| DeclareLaunchArgument('connection_delay', default_value='10'), | ||
| DeclareLaunchArgument('color_width', default_value='424'), | ||
| DeclareLaunchArgument('color_height', default_value='240'), | ||
| DeclareLaunchArgument('color_fps', default_value='6'), | ||
| DeclareLaunchArgument('color_format', default_value='ANY'), | ||
| DeclareLaunchArgument('enable_color', default_value='true'), | ||
| DeclareLaunchArgument('color_qos', default_value='default'), | ||
| DeclareLaunchArgument('color_camera_info_qos', default_value='default'), | ||
| DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), | ||
| DeclareLaunchArgument('color_exposure', default_value='-1'), | ||
| DeclareLaunchArgument('color_gain', default_value='-1'), | ||
| DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'), | ||
| DeclareLaunchArgument('color_white_balance', default_value='-1'), | ||
| DeclareLaunchArgument('depth_width', default_value='424'), | ||
| DeclareLaunchArgument('depth_height', default_value='240'), | ||
| DeclareLaunchArgument('depth_fps', default_value='6'), | ||
| DeclareLaunchArgument('depth_format', default_value='ANY'), | ||
| DeclareLaunchArgument('enable_depth', default_value='true'), | ||
| DeclareLaunchArgument('depth_qos', default_value='default'), | ||
| DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), | ||
| DeclareLaunchArgument('left_ir_width', default_value='0'), | ||
| DeclareLaunchArgument('left_ir_height', default_value='0'), | ||
| DeclareLaunchArgument('left_ir_fps', default_value='0'), | ||
| DeclareLaunchArgument('left_ir_format', default_value='ANY'), | ||
| DeclareLaunchArgument('enable_left_ir', default_value='false'), | ||
| DeclareLaunchArgument('left_ir_qos', default_value='default'), | ||
| DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), | ||
| DeclareLaunchArgument('right_ir_width', default_value='0'), | ||
| DeclareLaunchArgument('right_ir_height', default_value='0'), | ||
| DeclareLaunchArgument('right_ir_fps', default_value='0'), | ||
| DeclareLaunchArgument('right_ir_format', default_value='ANY'), | ||
| DeclareLaunchArgument('enable_right_ir', default_value='false'), | ||
| DeclareLaunchArgument('right_ir_qos', default_value='default'), | ||
| DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'), | ||
| DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'), | ||
| DeclareLaunchArgument('ir_exposure', default_value='-1'), | ||
| DeclareLaunchArgument('ir_gain', default_value='-1'), | ||
| DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'), | ||
| DeclareLaunchArgument('enable_accel', default_value='false'), | ||
| DeclareLaunchArgument('accel_rate', default_value='200hz'), | ||
| DeclareLaunchArgument('accel_range', default_value='4g'), | ||
| DeclareLaunchArgument('enable_gyro', default_value='false'), | ||
| DeclareLaunchArgument('gyro_rate', default_value='200hz'), | ||
| DeclareLaunchArgument('gyro_range', default_value='1000dps'), | ||
| DeclareLaunchArgument('liner_accel_cov', default_value='0.01'), | ||
| DeclareLaunchArgument('angular_vel_cov', default_value='0.01'), | ||
| DeclareLaunchArgument('publish_tf', default_value='true'), | ||
| DeclareLaunchArgument('tf_publish_rate', default_value='0.0'), | ||
| DeclareLaunchArgument('ir_info_url', default_value=''), | ||
| DeclareLaunchArgument('color_info_url', default_value=''), | ||
| DeclareLaunchArgument('log_level', default_value='none'), | ||
| DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), | ||
| DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), | ||
| DeclareLaunchArgument('enable_ldp', default_value='true'), | ||
| DeclareLaunchArgument('enable_soft_filter', default_value='true'), | ||
| DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), | ||
| DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), | ||
| DeclareLaunchArgument('sync_mode', default_value='standalone'), | ||
| DeclareLaunchArgument('depth_delay_us', default_value='0'), | ||
| DeclareLaunchArgument('color_delay_us', default_value='0'), | ||
| DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), | ||
| DeclareLaunchArgument('trigger_out_delay_us', default_value='0'), | ||
| DeclareLaunchArgument('trigger_out_enabled', default_value='true'), | ||
| DeclareLaunchArgument('frames_per_trigger', default_value='2'), | ||
| DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms | ||
| DeclareLaunchArgument('enable_frame_sync', default_value='true'), | ||
| DeclareLaunchArgument('ordered_pc', default_value='false'), | ||
| DeclareLaunchArgument('use_hardware_time', default_value='true'), | ||
| DeclareLaunchArgument('enable_depth_scale', default_value='true'), | ||
| DeclareLaunchArgument('enable_decimation_filter', default_value='True'), | ||
| DeclareLaunchArgument('enable_hdr_merge', default_value='false'), | ||
| DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), | ||
| DeclareLaunchArgument('enable_threshold_filter', default_value='false'), | ||
| DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'), | ||
| DeclareLaunchArgument('enable_spatial_filter', default_value='false'), | ||
| DeclareLaunchArgument('enable_temporal_filter', default_value='false'), | ||
| DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), | ||
| DeclareLaunchArgument('decimation_filter_scale_', default_value='6'), | ||
| DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'), | ||
| DeclareLaunchArgument('threshold_filter_max', default_value='-1'), | ||
| DeclareLaunchArgument('threshold_filter_min', default_value='-1'), | ||
| DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'), | ||
| DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'), | ||
| DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'), | ||
| DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'), | ||
| DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'), | ||
| DeclareLaunchArgument('spatial_filter_radius', default_value='-1'), | ||
| DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'), | ||
| DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'), | ||
| DeclareLaunchArgument('hole_filling_filter_mode', default_value=''), | ||
| DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'), | ||
| DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'), | ||
| DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'), | ||
| DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'), | ||
| DeclareLaunchArgument('align_mode', default_value='SW'), | ||
| DeclareLaunchArgument('diagnostic_period', default_value='1.0'), | ||
| DeclareLaunchArgument('enable_laser', default_value='true'), | ||
| DeclareLaunchArgument('depth_precision', default_value=''), | ||
| DeclareLaunchArgument('device_preset', default_value='Default'), | ||
| DeclareLaunchArgument('laser_on_off_mode', default_value='0'), | ||
| DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), | ||
| DeclareLaunchArgument('laser_energy_level', default_value='-1'), | ||
| DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'), | ||
| DeclareLaunchArgument('enable_sync_host_time', default_value='true'), | ||
| DeclareLaunchArgument('time_domain', default_value='device'), | ||
| DeclareLaunchArgument('enable_color_undistortion', default_value='false'), | ||
| DeclareLaunchArgument('config_file_path', default_value=''), | ||
| DeclareLaunchArgument('enable_heartbeat', default_value='false'), | ||
| ] | ||
|
|
||
| static_tf_bridge = Node( | ||
| name='camera_0_static_tf', | ||
| executable='static_transform_publisher', | ||
| package='tf2_ros', | ||
| output='screen', | ||
| arguments=['--frame-id', 'camera_0_link', '--child-frame-id', 'camera_link'], | ||
| ) | ||
|
|
||
| def get_params(context, args): | ||
| return [load_parameters(context, args)] | ||
|
|
||
| def create_node_action(context, args): | ||
| params = get_params(context, args) | ||
| return [ | ||
| ComposableNodeContainer( | ||
| name='camera_container', | ||
| namespace='', | ||
| package='rclcpp_components', | ||
| executable='component_container', | ||
| composable_node_descriptions=[ | ||
| ComposableNode( | ||
| package='orbbec_camera', | ||
| plugin='orbbec_camera::OBCameraNodeDriver', | ||
| name='camera_0', | ||
| namespace='sensors/camera_0', | ||
| parameters=params, | ||
| remappings=[ | ||
| # Color | ||
| ('color/image_raw', '/sensors/camera_0/color/image'), | ||
| ('color/image_raw/compressed', '/sensors/camera_0/color/compressed'), | ||
| ('color/image_raw/compressedDepth', | ||
| '/sensors/camera_0/color/compressedDepth'), | ||
| ('color/image_raw/theora', '/sensors/camera_0/color/theora'), | ||
| # Depth | ||
| ('depth/image_raw', '/sensors/camera_0/depth/image'), | ||
| ('depth/image_raw/compressed', '/sensors/camera_0/depth/compressed'), | ||
| ('depth/image_raw/compressedDepth', | ||
| '/sensors/camera_0/depth/compressedDepth'), | ||
| ('depth/image_raw/theora', '/sensors/camera_0/depth/theora'), | ||
| # Points | ||
| ('depth/points', '/sensors/camera_0/points') | ||
| ] | ||
| ), | ||
| ], | ||
| output='screen', | ||
| ) | ||
| ] | ||
|
|
||
| return LaunchDescription( | ||
| [static_tf_bridge] + args + [ | ||
| OpaqueFunction(function=lambda context: create_node_action(context, args)) | ||
| ] | ||
| ) |
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