fix
This commit is contained in:
liangyuxuan
@@ -0,0 +1,42 @@
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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 DeclareLaunchArgument, OpaqueFunction, LogInfo
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from launch.substitutions import LaunchConfiguration
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def generate_launch_description():
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args_detect = [
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DeclareLaunchArgument('output_boxes', default_value='True'),
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DeclareLaunchArgument('output_masks', default_value='False'),
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DeclareLaunchArgument('color_image_topic', default_value='/camera/camera/color/image_raw'),
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DeclareLaunchArgument('depth_image_topic', default_value='/camera/camera/depth/image_rect_raw'),
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DeclareLaunchArgument('camera_info_topic', default_value='/camera/camera/color/camera_info'),
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DeclareLaunchArgument('device', default_value='cpu') # Gpu function NotImplemented
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]
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def create_detect_node(context):
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output_boxes = LaunchConfiguration('output_boxes').perform(context)
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output_masks = LaunchConfiguration('output_masks').perform(context)
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color_image_topic = LaunchConfiguration('color_image_topic').perform(context)
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depth_image_topic = LaunchConfiguration('depth_image_topic').perform(context)
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camera_info_topic = LaunchConfiguration('camera_info_topic').perform(context)
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device = LaunchConfiguration('device').perform(context)
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return [
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Node(
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package='vision_detect',
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executable='crossboard_node',
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parameters=[{
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'output_boxes': output_boxes.lower() == 'true',
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'output_masks': output_masks.lower() == 'true',
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'color_image_topic': color_image_topic,
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'depth_image_topic': depth_image_topic,
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'camera_info_topic': camera_info_topic,
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'device': device,
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}]
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)
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]
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return LaunchDescription(args_detect + [
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OpaqueFunction(function=create_detect_node),
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])
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@@ -10,12 +10,7 @@ def generate_launch_description():
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DeclareLaunchArgument('output_boxes', default_value='True'),
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DeclareLaunchArgument('output_masks', default_value='False'),
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DeclareLaunchArgument('set_confidence', default_value='0.5'),
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DeclareLaunchArgument('color_image_topic', default_value='/camera/camera/color/image_raw'),
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DeclareLaunchArgument('depth_image_topic', default_value='/camera/camera/depth/image_rect_raw'),
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DeclareLaunchArgument('camera_info_topic', default_value='/camera/camera/color/camera_info'),
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DeclareLaunchArgument('width', default_value='1280'),
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DeclareLaunchArgument('high', default_value='720'),
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DeclareLaunchArgument('device', default_value='cpu')
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DeclareLaunchArgument('device', default_value='cpu') # Gpu function NotImplemented
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]
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def create_detect_node(context):
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@@ -23,27 +18,17 @@ def generate_launch_description():
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output_boxes = LaunchConfiguration('output_boxes').perform(context)
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output_masks = LaunchConfiguration('output_masks').perform(context)
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conf = LaunchConfiguration('set_confidence').perform(context)
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color_image_topic = LaunchConfiguration('color_image_topic').perform(context)
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depth_image_topic = LaunchConfiguration('depth_image_topic').perform(context)
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camera_info_topic = LaunchConfiguration('camera_info_topic').perform(context)
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width = LaunchConfiguration('width').perform(context)
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high = LaunchConfiguration('high').perform(context)
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device = LaunchConfiguration('device').perform(context)
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return [
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Node(
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package='detect_part',
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package='vision_detect',
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executable='detect_node',
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parameters=[{
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'checkpoint_name': checkpoint,
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'output_boxes': output_boxes.lower() == 'true',
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'output_masks': output_masks.lower() == 'true',
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'set_confidence': float(conf),
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'color_image_topic': color_image_topic,
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'depth_image_topic': depth_image_topic,
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'camera_info_topic': camera_info_topic,
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'width': int(width),
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'high': int(high),
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'device': device,
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}]
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)
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@@ -1,350 +0,0 @@
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import os
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import yaml
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
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from launch_ros.descriptions import ComposableNode
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def load_yaml(file_path):
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with open(file_path, 'r') as f:
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return yaml.safe_load(f)
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def merge_params(default_params, yaml_params):
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for key, value in yaml_params.items():
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if key in default_params:
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default_params[key] = value
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return default_params
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def convert_value(value):
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if isinstance(value, str):
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try:
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return int(value)
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except ValueError:
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pass
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try:
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return float(value)
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except ValueError:
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pass
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if value.lower() == 'true':
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return True
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elif value.lower() == 'false':
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return False
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return value
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def load_parameters(context, args):
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default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
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config_file_path = LaunchConfiguration('config_file_path').perform(context)
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if config_file_path:
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yaml_params = load_yaml(config_file_path)
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default_params = merge_params(default_params, yaml_params)
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skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
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return {
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key: (value if key in skip_convert else convert_value(value))
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for key, value in default_params.items()
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}
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def generate_launch_description():
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args_detect = [
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DeclareLaunchArgument('checkpoint_name', default_value='yolo11s-seg.pt'),
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DeclareLaunchArgument('output_boxes', default_value='True'),
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DeclareLaunchArgument('output_masks', default_value='False'),
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DeclareLaunchArgument('set_confidence', default_value='0.5'),
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DeclareLaunchArgument('color_image_topic', default_value='/camera/color/image_raw'),
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DeclareLaunchArgument('depth_image_topic', default_value='/camera/depth/image_raw'),
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DeclareLaunchArgument('camera_info_topic', default_value='/camera/color/camera_info'),
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DeclareLaunchArgument('width', default_value='1280'),
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DeclareLaunchArgument('high', default_value='720'),
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DeclareLaunchArgument('device', default_value='cpu')
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]
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args_camera = [
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='true'),
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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('upgrade_firmware', default_value=''),
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DeclareLaunchArgument('preset_firmware_path', default_value=''),
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DeclareLaunchArgument('load_config_json_file_path', default_value=''),
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DeclareLaunchArgument('export_config_json_file_path', default_value=''),
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DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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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('connection_delay', default_value='10'),
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DeclareLaunchArgument('color_width', default_value='0'),
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DeclareLaunchArgument('color_height', default_value='0'),
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DeclareLaunchArgument('color_fps', default_value='0'),
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DeclareLaunchArgument('color_format', default_value='ANY'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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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_priority', default_value='false'),
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DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('color_flip', default_value='false'),
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DeclareLaunchArgument('color_mirror', default_value='false'),
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DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
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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('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('color_brightness', default_value='-1'),
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DeclareLaunchArgument('color_sharpness', default_value='-1'),
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DeclareLaunchArgument('color_gamma', default_value='-1'),
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DeclareLaunchArgument('color_saturation', default_value='-1'),
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DeclareLaunchArgument('color_constrast', default_value='-1'),
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DeclareLaunchArgument('color_hue', default_value='-1'),
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DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
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DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
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DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
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DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='0'),
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DeclareLaunchArgument('depth_height', default_value='0'),
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DeclareLaunchArgument('depth_fps', default_value='0'),
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DeclareLaunchArgument('depth_format', default_value='ANY'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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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('enable_depth_auto_exposure_priority', default_value='false'),
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument('depth_rotation', default_value='-1'),#depth rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('depth_flip', default_value='false'),
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DeclareLaunchArgument('depth_mirror', default_value='false'),
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DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
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DeclareLaunchArgument('depth_brightness', default_value='-1'),
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DeclareLaunchArgument('left_ir_width', default_value='0'),
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DeclareLaunchArgument('left_ir_height', default_value='0'),
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DeclareLaunchArgument('left_ir_fps', default_value='0'),
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DeclareLaunchArgument('left_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_left_ir', default_value='false'),
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DeclareLaunchArgument('left_ir_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('left_ir_flip', default_value='false'),
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DeclareLaunchArgument('left_ir_mirror', default_value='false'),
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DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('right_ir_width', default_value='0'),
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DeclareLaunchArgument('right_ir_height', default_value='0'),
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DeclareLaunchArgument('right_ir_fps', default_value='0'),
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DeclareLaunchArgument('right_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_right_ir', default_value='false'),
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DeclareLaunchArgument('right_ir_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('right_ir_flip', default_value='false'),
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DeclareLaunchArgument('right_ir_mirror', default_value='false'),
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DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
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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('ir_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_brightness', 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('enable_accel_data_correction', default_value='true'),
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DeclareLaunchArgument('accel_rate', default_value='200hz'),
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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('enable_gyro_data_correction', default_value='true'),
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DeclareLaunchArgument('gyro_rate', default_value='200hz'),
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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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# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
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# If you do not want to automatically enumerate network devices,
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# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
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DeclareLaunchArgument('enumerate_net_device', default_value='true'),
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DeclareLaunchArgument('net_device_ip', default_value=''),
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DeclareLaunchArgument('net_device_port', default_value='0'),
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DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
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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('disaparity_to_depth_mode', default_value='HW'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('ldp_power_level', default_value='-1'),
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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='true'),
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DeclareLaunchArgument('software_trigger_enabled', default_value='true'),
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DeclareLaunchArgument('frames_per_trigger', default_value='2'),
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DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
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DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
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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('enable_depth_scale', default_value='true'),
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DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
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DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
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DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
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DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
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DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
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DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
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DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
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DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
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DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
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DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
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DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
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DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
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DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
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DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
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DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
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DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
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DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
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DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
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DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
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DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
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DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
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DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
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DeclareLaunchArgument('align_mode', default_value='SW'),
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DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
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DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
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DeclareLaunchArgument('enable_laser', default_value='true'),
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument('device_preset', default_value='Default'),
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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_sync_host_time', default_value='true'),
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DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
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DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
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DeclareLaunchArgument('config_file_path', default_value=''),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
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DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
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DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
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DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
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DeclareLaunchArgument('disparity_offset_config', default_value='false'),
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DeclareLaunchArgument('offset_index0', default_value='-1'),
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DeclareLaunchArgument('offset_index1', default_value='-1'),
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DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
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DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
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DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
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DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
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DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
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DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
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DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
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DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
||||
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
|
||||
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
|
||||
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
||||
|
||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
||||
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
|
||||
]
|
||||
|
||||
args = args_camera + args_detect
|
||||
|
||||
def get_params(context, args):
|
||||
return [load_parameters(context, args)]
|
||||
|
||||
def create_node_action(context, args):
|
||||
params = get_params(context, args)
|
||||
ros_distro = os.environ.get("ROS_DISTRO", "humble")
|
||||
if ros_distro == "foxy":
|
||||
return [
|
||||
Node(
|
||||
package="orbbec_camera",
|
||||
executable="orbbec_camera_node",
|
||||
name="ob_camera_node",
|
||||
namespace=LaunchConfiguration("camera_name"),
|
||||
parameters=params,
|
||||
output="screen",
|
||||
)
|
||||
]
|
||||
else:
|
||||
return [
|
||||
GroupAction([
|
||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||
ComposableNodeContainer(
|
||||
name="camera_container",
|
||||
namespace="",
|
||||
package="rclcpp_components",
|
||||
executable="component_container",
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package="orbbec_camera",
|
||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||
name=LaunchConfiguration("camera_name"),
|
||||
parameters=params,
|
||||
),
|
||||
],
|
||||
output="screen",
|
||||
)
|
||||
])
|
||||
]
|
||||
|
||||
def create_detect_node(context):
|
||||
checkpoint = LaunchConfiguration('checkpoint_name').perform(context)
|
||||
output_boxes = LaunchConfiguration('output_boxes').perform(context)
|
||||
output_masks = LaunchConfiguration('output_masks').perform(context)
|
||||
conf = LaunchConfiguration('set_confidence').perform(context)
|
||||
width = LaunchConfiguration('width').perform(context)
|
||||
high = LaunchConfiguration('high').perform(context)
|
||||
device = LaunchConfiguration('device').perform(context)
|
||||
|
||||
return [
|
||||
Node(
|
||||
package='detect_part',
|
||||
executable='crossboard_detect_node',
|
||||
parameters=[{
|
||||
'checkpoint_name': checkpoint,
|
||||
'output_boxes': output_boxes.lower() == 'true',
|
||||
'output_masks': output_masks.lower() == 'true',
|
||||
'set_confidence': float(conf),
|
||||
'width': int(width),
|
||||
'high': int(high),
|
||||
'device': device
|
||||
}]
|
||||
)
|
||||
]
|
||||
|
||||
return LaunchDescription(
|
||||
args + [
|
||||
OpaqueFunction(function=lambda context: create_node_action(context, args_camera)),
|
||||
OpaqueFunction(function=create_detect_node)
|
||||
]
|
||||
)
|
||||
|
||||
@@ -1,356 +0,0 @@
|
||||
import os
|
||||
import yaml
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
|
||||
|
||||
def load_yaml(file_path):
|
||||
with open(file_path, 'r') as f:
|
||||
return yaml.safe_load(f)
|
||||
|
||||
|
||||
def merge_params(default_params, yaml_params):
|
||||
for key, value in yaml_params.items():
|
||||
if key in default_params:
|
||||
default_params[key] = value
|
||||
return default_params
|
||||
|
||||
|
||||
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}
|
||||
config_file_path = LaunchConfiguration('config_file_path').perform(context)
|
||||
if config_file_path:
|
||||
yaml_params = load_yaml(config_file_path)
|
||||
default_params = merge_params(default_params, yaml_params)
|
||||
skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
|
||||
return {
|
||||
key: (value if key in skip_convert else convert_value(value))
|
||||
for key, value in default_params.items()
|
||||
}
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
args_detect = [
|
||||
DeclareLaunchArgument('checkpoint_name', default_value='yolo11s-seg.pt'),
|
||||
DeclareLaunchArgument('output_boxes', default_value='True'),
|
||||
DeclareLaunchArgument('output_masks', default_value='False'),
|
||||
DeclareLaunchArgument('set_confidence', default_value='0.5'),
|
||||
DeclareLaunchArgument('color_image_topic', default_value='/camera/color/image_raw'),
|
||||
DeclareLaunchArgument('depth_image_topic', default_value='/camera/depth/image_raw'),
|
||||
DeclareLaunchArgument('camera_info_topic', default_value='/camera/color/camera_info'),
|
||||
DeclareLaunchArgument('width', default_value='1280'),
|
||||
DeclareLaunchArgument('high', default_value='720'),
|
||||
DeclareLaunchArgument('device', default_value='cpu')
|
||||
]
|
||||
|
||||
args_camera = [
|
||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
||||
DeclareLaunchArgument('depth_registration', default_value='true'),
|
||||
DeclareLaunchArgument('serial_number', default_value=''),
|
||||
DeclareLaunchArgument('usb_port', default_value=''),
|
||||
DeclareLaunchArgument('device_num', default_value='1'),
|
||||
DeclareLaunchArgument('upgrade_firmware', default_value=''),
|
||||
DeclareLaunchArgument('preset_firmware_path', default_value=''),
|
||||
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
|
||||
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
|
||||
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
|
||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
||||
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
|
||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
||||
DeclareLaunchArgument('color_width', default_value='0'),
|
||||
DeclareLaunchArgument('color_height', default_value='0'),
|
||||
DeclareLaunchArgument('color_fps', default_value='0'),
|
||||
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_priority', default_value='false'),
|
||||
DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
|
||||
DeclareLaunchArgument('color_flip', default_value='false'),
|
||||
DeclareLaunchArgument('color_mirror', default_value='false'),
|
||||
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
|
||||
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('enable_color_auto_exposure', default_value='true'),
|
||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
||||
DeclareLaunchArgument('color_sharpness', default_value='-1'),
|
||||
DeclareLaunchArgument('color_gamma', default_value='-1'),
|
||||
DeclareLaunchArgument('color_saturation', default_value='-1'),
|
||||
DeclareLaunchArgument('color_constrast', default_value='-1'),
|
||||
DeclareLaunchArgument('color_hue', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
|
||||
DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
|
||||
DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
|
||||
DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
||||
DeclareLaunchArgument('depth_fps', default_value='0'),
|
||||
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('enable_depth_auto_exposure_priority', default_value='false'),
|
||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
||||
DeclareLaunchArgument('depth_rotation', default_value='-1'),#depth rotation degree : 0, 90, 180, 270
|
||||
DeclareLaunchArgument('depth_flip', default_value='false'),
|
||||
DeclareLaunchArgument('depth_mirror', default_value='false'),
|
||||
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_brightness', default_value='-1'),
|
||||
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('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
|
||||
DeclareLaunchArgument('left_ir_flip', default_value='false'),
|
||||
DeclareLaunchArgument('left_ir_mirror', default_value='false'),
|
||||
DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
|
||||
DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
|
||||
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('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
|
||||
DeclareLaunchArgument('right_ir_flip', default_value='false'),
|
||||
DeclareLaunchArgument('right_ir_mirror', default_value='false'),
|
||||
DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
|
||||
DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
||||
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
|
||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
||||
DeclareLaunchArgument('accel_range', default_value='4g'),
|
||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
||||
DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
|
||||
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=''),
|
||||
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
|
||||
# If you do not want to automatically enumerate network devices,
|
||||
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
|
||||
DeclareLaunchArgument('enumerate_net_device', default_value='true'),
|
||||
DeclareLaunchArgument('net_device_ip', default_value=''),
|
||||
DeclareLaunchArgument('net_device_port', default_value='0'),
|
||||
DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
|
||||
DeclareLaunchArgument('log_level', default_value='none'),
|
||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
||||
DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'),
|
||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
||||
DeclareLaunchArgument('ldp_power_level', 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('software_trigger_enabled', default_value='true'),
|
||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
||||
DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
|
||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hardware_noise_removal_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_disaparity_to_depth', default_value='true'),
|
||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
||||
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
|
||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
||||
DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
|
||||
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('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
|
||||
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('retry_on_usb3_detection_failure', default_value='false'),
|
||||
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
|
||||
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
|
||||
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
|
||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
||||
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
|
||||
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
|
||||
DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
|
||||
DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
|
||||
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
|
||||
DeclareLaunchArgument('offset_index0', default_value='-1'),
|
||||
DeclareLaunchArgument('offset_index1', default_value='-1'),
|
||||
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
|
||||
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
|
||||
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
|
||||
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
|
||||
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
|
||||
|
||||
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
|
||||
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
|
||||
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
||||
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
|
||||
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
|
||||
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
||||
|
||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
||||
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
|
||||
]
|
||||
|
||||
args = args_camera + args_detect
|
||||
|
||||
def get_params(context, args):
|
||||
return [load_parameters(context, args)]
|
||||
|
||||
def create_node_action(context, args):
|
||||
params = get_params(context, args)
|
||||
ros_distro = os.environ.get("ROS_DISTRO", "humble")
|
||||
if ros_distro == "foxy":
|
||||
return [
|
||||
Node(
|
||||
package="orbbec_camera",
|
||||
executable="orbbec_camera_node",
|
||||
name="ob_camera_node",
|
||||
namespace=LaunchConfiguration("camera_name"),
|
||||
parameters=params,
|
||||
output="screen",
|
||||
)
|
||||
]
|
||||
else:
|
||||
return [
|
||||
GroupAction([
|
||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||
ComposableNodeContainer(
|
||||
name="camera_container",
|
||||
namespace="",
|
||||
package="rclcpp_components",
|
||||
executable="component_container",
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package="orbbec_camera",
|
||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||
name=LaunchConfiguration("camera_name"),
|
||||
parameters=params,
|
||||
),
|
||||
],
|
||||
output="screen",
|
||||
)
|
||||
])
|
||||
]
|
||||
|
||||
def create_detect_node(context):
|
||||
checkpoint = LaunchConfiguration('checkpoint_name').perform(context)
|
||||
output_boxes = LaunchConfiguration('output_boxes').perform(context)
|
||||
output_masks = LaunchConfiguration('output_masks').perform(context)
|
||||
conf = LaunchConfiguration('set_confidence').perform(context)
|
||||
color_image_topic = LaunchConfiguration('color_image_topic').perform(context)
|
||||
depth_image_topic = LaunchConfiguration('depth_image_topic').perform(context)
|
||||
camera_info_topic = LaunchConfiguration('camera_info_topic').perform(context)
|
||||
width = LaunchConfiguration('width').perform(context)
|
||||
high = LaunchConfiguration('high').perform(context)
|
||||
device = LaunchConfiguration('device').perform(context)
|
||||
|
||||
return [
|
||||
Node(
|
||||
package='detect_part',
|
||||
executable='detect_node',
|
||||
parameters=[{
|
||||
'checkpoint_name': checkpoint,
|
||||
'output_boxes': output_boxes.lower() == 'true',
|
||||
'output_masks': output_masks.lower() == 'true',
|
||||
'set_confidence': float(conf),
|
||||
'color_image_topic': color_image_topic,
|
||||
'depth_image_topic': depth_image_topic,
|
||||
'camera_info_topic': camera_info_topic,
|
||||
'width': int(width),
|
||||
'high': int(high),
|
||||
'device': device
|
||||
}]
|
||||
)
|
||||
]
|
||||
|
||||
return LaunchDescription(
|
||||
args + [
|
||||
OpaqueFunction(function=lambda context: create_node_action(context, args_camera)),
|
||||
OpaqueFunction(function=create_detect_node)
|
||||
]
|
||||
)
|
||||
|
||||
@@ -1,194 +0,0 @@
|
||||
# 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.
|
||||
|
||||
"""Launch realsense2_camera node."""
|
||||
import os
|
||||
import yaml
|
||||
from launch import LaunchDescription
|
||||
import launch_ros.actions
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import DeclareLaunchArgument, OpaqueFunction, LogInfo
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
configurable_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
|
||||
{'name': 'camera_namespace', 'default': 'camera', 'description': 'namespace for camera'},
|
||||
{'name': 'serial_no', 'default': "''", 'description': 'choose device by serial number'},
|
||||
{'name': 'usb_port_id', 'default': "''", 'description': 'choose device by usb port id'},
|
||||
{'name': 'device_type', 'default': "''", 'description': 'choose device by type'},
|
||||
{'name': 'config_file', 'default': "''", 'description': 'yaml config file'},
|
||||
{'name': 'json_file_path', 'default': "''", 'description': 'allows advanced configuration'},
|
||||
{'name': 'initial_reset', 'default': 'false', 'description': "''"},
|
||||
{'name': 'accelerate_gpu_with_glsl', 'default': "false", 'description': 'enable GPU acceleration with GLSL'},
|
||||
{'name': 'rosbag_filename', 'default': "''", 'description': 'A realsense bagfile to run from as a device'},
|
||||
{'name': 'rosbag_loop', 'default': 'false', 'description': 'Enable loop playback when playing a bagfile'},
|
||||
{'name': 'log_level', 'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
|
||||
{'name': 'output', 'default': 'screen', 'description': 'pipe node output [screen|log]'},
|
||||
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
|
||||
{'name': 'rgb_camera.color_profile', 'default': '0,0,0', 'description': 'color stream profile'},
|
||||
{'name': 'rgb_camera.color_format', 'default': 'RGB8', 'description': 'color stream format'},
|
||||
{'name': 'rgb_camera.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for color image'},
|
||||
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
|
||||
{'name': 'enable_infra', 'default': 'false', 'description': 'enable infra0 stream'},
|
||||
{'name': 'enable_infra1', 'default': 'false', 'description': 'enable infra1 stream'},
|
||||
{'name': 'enable_infra2', 'default': 'false', 'description': 'enable infra2 stream'},
|
||||
{'name': 'depth_module.depth_profile', 'default': '0,0,0', 'description': 'depth stream profile'},
|
||||
{'name': 'depth_module.depth_format', 'default': 'Z16', 'description': 'depth stream format'},
|
||||
{'name': 'depth_module.infra_profile', 'default': '0,0,0', 'description': 'infra streams (0/1/2) profile'},
|
||||
{'name': 'depth_module.infra_format', 'default': 'RGB8', 'description': 'infra0 stream format'},
|
||||
{'name': 'depth_module.infra1_format', 'default': 'Y8', 'description': 'infra1 stream format'},
|
||||
{'name': 'depth_module.infra2_format', 'default': 'Y8', 'description': 'infra2 stream format'},
|
||||
{'name': 'depth_module.color_profile', 'default': '0,0,0', 'description': 'Depth module color stream profile for d405'},
|
||||
{'name': 'depth_module.color_format', 'default': 'RGB8', 'description': 'color stream format for d405'},
|
||||
{'name': 'depth_module.exposure', 'default': '8500', 'description': 'Depth module manual exposure value'},
|
||||
{'name': 'depth_module.gain', 'default': '16', 'description': 'Depth module manual gain value'},
|
||||
{'name': 'depth_module.hdr_enabled', 'default': 'false', 'description': 'Depth module hdr enablement flag. Used for hdr_merge filter'},
|
||||
{'name': 'depth_module.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'},
|
||||
{'name': 'depth_module.exposure.1', 'default': '7500', 'description': 'Depth module first exposure value. Used for hdr_merge filter'},
|
||||
{'name': 'depth_module.gain.1', 'default': '16', 'description': 'Depth module first gain value. Used for hdr_merge filter'},
|
||||
{'name': 'depth_module.exposure.2', 'default': '1', 'description': 'Depth module second exposure value. Used for hdr_merge filter'},
|
||||
{'name': 'depth_module.gain.2', 'default': '16', 'description': 'Depth module second gain value. Used for hdr_merge filter'},
|
||||
{'name': 'enable_sync', 'default': 'true', 'description': "'enable sync mode'"},
|
||||
{'name': 'depth_module.inter_cam_sync_mode', 'default': "0", 'description': '[0-Default, 1-Master, 2-Slave]'},
|
||||
{'name': 'enable_rgbd', 'default': 'false', 'description': "'enable rgbd topic'"},
|
||||
{'name': 'enable_gyro', 'default': 'false', 'description': "'enable gyro stream'"},
|
||||
{'name': 'enable_accel', 'default': 'false', 'description': "'enable accel stream'"},
|
||||
{'name': 'gyro_fps', 'default': '0', 'description': "''"},
|
||||
{'name': 'enable_motion', 'default': 'false', 'description': "'enable motion stream (IMU) for DDS devices'"},
|
||||
{'name': 'accel_fps', 'default': '0', 'description': "''"},
|
||||
{'name': 'unite_imu_method', 'default': "0", 'description': '[0-None, 1-copy, 2-linear_interpolation]'},
|
||||
{'name': 'clip_distance', 'default': '-2.', 'description': "''"},
|
||||
{'name': 'angular_velocity_cov', 'default': '0.01', 'description': "''"},
|
||||
{'name': 'linear_accel_cov', 'default': '0.01', 'description': "''"},
|
||||
{'name': 'diagnostics_period', 'default': '0.0', 'description': 'Rate of publishing diagnostics. 0=Disabled'},
|
||||
{'name': 'publish_tf', 'default': 'true', 'description': '[bool] enable/disable publishing static & dynamic TF'},
|
||||
{'name': 'tf_publish_rate', 'default': '0.0', 'description': '[double] rate in Hz for publishing dynamic TF'},
|
||||
{'name': 'pointcloud.enable', 'default': 'false', 'description': ''},
|
||||
{'name': 'pointcloud.stream_filter', 'default': '2', 'description': 'texture stream for pointcloud'},
|
||||
{'name': 'pointcloud.stream_index_filter','default': '0', 'description': 'texture stream index for pointcloud'},
|
||||
{'name': 'pointcloud.ordered_pc', 'default': 'false', 'description': ''},
|
||||
{'name': 'pointcloud.allow_no_texture_points', 'default': 'false', 'description': "''"},
|
||||
{'name': 'align_depth.enable', 'default': 'true', 'description': 'enable align depth filter'},
|
||||
{'name': 'colorizer.enable', 'default': 'false', 'description': 'enable colorizer filter'},
|
||||
{'name': 'decimation_filter.enable', 'default': 'false', 'description': 'enable_decimation_filter'},
|
||||
{'name': 'rotation_filter.enable', 'default': 'false', 'description': 'enable rotation_filter'},
|
||||
{'name': 'rotation_filter.rotation', 'default': '0.0', 'description': 'rotation value: 0.0, 90.0, -90.0, 180.0'},
|
||||
{'name': 'spatial_filter.enable', 'default': 'false', 'description': 'enable_spatial_filter'},
|
||||
{'name': 'temporal_filter.enable', 'default': 'false', 'description': 'enable_temporal_filter'},
|
||||
{'name': 'disparity_filter.enable', 'default': 'false', 'description': 'enable_disparity_filter'},
|
||||
{'name': 'hole_filling_filter.enable', 'default': 'false', 'description': 'enable_hole_filling_filter'},
|
||||
{'name': 'hdr_merge.enable', 'default': 'false', 'description': 'hdr_merge filter enablement flag'},
|
||||
{'name': 'wait_for_device_timeout', 'default': '-1.', 'description': 'Timeout for waiting for device to connect (Seconds)'},
|
||||
{'name': 'reconnect_timeout', 'default': '6.', 'description': 'Timeout(seconds) between consequtive reconnection attempts'},
|
||||
{'name': 'base_frame_id', 'default': 'link', 'description': 'Root frame of the sensors transform tree'},
|
||||
]
|
||||
|
||||
def declare_configurable_parameters(parameters):
|
||||
return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters]
|
||||
|
||||
def set_configurable_parameters(parameters):
|
||||
return dict([(param['name'], LaunchConfiguration(param['name'])) for param in parameters])
|
||||
|
||||
def yaml_to_dict(path_to_yaml):
|
||||
with open(path_to_yaml, "r") as f:
|
||||
return yaml.load(f, Loader=yaml.SafeLoader)
|
||||
|
||||
def launch_setup(context, params, param_name_suffix=''):
|
||||
# _config_file = LaunchConfiguration('config_file' + param_name_suffix).perform(context)
|
||||
# params_from_file = {} if _config_file == "''" else yaml_to_dict(_config_file)
|
||||
#
|
||||
# # Load lifecycle nodes setting from YAML dynamically generated by CMAKE instead of environment variable
|
||||
# lifecycle_param_file = os.path.join(
|
||||
# os.path.dirname(__file__), '..', 'config', 'global_settings.yaml'
|
||||
# )
|
||||
# lifecycle_params = yaml_to_dict(lifecycle_param_file)
|
||||
# use_lifecycle_node = lifecycle_params.get("use_lifecycle_node", False)
|
||||
use_lifecycle_node = False
|
||||
|
||||
_output = LaunchConfiguration('output' + param_name_suffix)
|
||||
|
||||
# Dynamically choose Node or LifecycleNode
|
||||
node_action = launch_ros.actions.LifecycleNode if use_lifecycle_node else launch_ros.actions.Node
|
||||
log_message = "Launching as LifecycleNode" if use_lifecycle_node else "Launching as Normal ROS Node"
|
||||
|
||||
if(os.getenv('ROS_DISTRO') == 'foxy'):
|
||||
# Foxy doesn't support output as substitution object (LaunchConfiguration object)
|
||||
# but supports it as string, so we fetch the string from this substitution object
|
||||
# see related PR that was merged for humble, iron, rolling: https://github.com/ros2/launch/pull/577
|
||||
_output = context.perform_substitution(_output)
|
||||
|
||||
return [
|
||||
LogInfo(msg=f"🚀 {log_message}"),
|
||||
node_action(
|
||||
package='realsense2_camera',
|
||||
namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),
|
||||
name=LaunchConfiguration('camera_name' + param_name_suffix),
|
||||
executable='realsense2_camera_node',
|
||||
parameters=[params],
|
||||
output=_output,
|
||||
arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
|
||||
emulate_tty=True,
|
||||
)
|
||||
]
|
||||
|
||||
def generate_launch_description():
|
||||
args_detect = [
|
||||
DeclareLaunchArgument('checkpoint_name', default_value='yolo11s-seg.pt'),
|
||||
DeclareLaunchArgument('output_boxes', default_value='True'),
|
||||
DeclareLaunchArgument('output_masks', default_value='False'),
|
||||
DeclareLaunchArgument('set_confidence', default_value='0.5'),
|
||||
DeclareLaunchArgument('color_image_topic', default_value='/camera/camera/color/image_raw'),
|
||||
DeclareLaunchArgument('depth_image_topic', default_value='/camera/camera/depth/image_rect_raw'),
|
||||
DeclareLaunchArgument('camera_info_topic', default_value='/camera/camera/color/camera_info'),
|
||||
DeclareLaunchArgument('width', default_value='1280'),
|
||||
DeclareLaunchArgument('high', default_value='720'),
|
||||
DeclareLaunchArgument('device', default_value='cpu')
|
||||
]
|
||||
|
||||
def create_detect_node(context):
|
||||
checkpoint = LaunchConfiguration('checkpoint_name').perform(context)
|
||||
output_boxes = LaunchConfiguration('output_boxes').perform(context)
|
||||
output_masks = LaunchConfiguration('output_masks').perform(context)
|
||||
conf = LaunchConfiguration('set_confidence').perform(context)
|
||||
color_image_topic = LaunchConfiguration('color_image_topic').perform(context)
|
||||
depth_image_topic = LaunchConfiguration('depth_image_topic').perform(context)
|
||||
camera_info_topic = LaunchConfiguration('camera_info_topic').perform(context)
|
||||
width = LaunchConfiguration('width').perform(context)
|
||||
high = LaunchConfiguration('high').perform(context)
|
||||
device = LaunchConfiguration('device').perform(context)
|
||||
|
||||
return [
|
||||
Node(
|
||||
package='detect_part',
|
||||
executable='detect_node',
|
||||
parameters=[{
|
||||
'checkpoint_name': checkpoint,
|
||||
'output_boxes': output_boxes.lower() == 'true',
|
||||
'output_masks': output_masks.lower() == 'true',
|
||||
'set_confidence': float(conf),
|
||||
'color_image_topic': color_image_topic,
|
||||
'depth_image_topic': depth_image_topic,
|
||||
'camera_info_topic': camera_info_topic,
|
||||
'width': int(width),
|
||||
'high': int(high),
|
||||
'device': device
|
||||
}]
|
||||
)
|
||||
]
|
||||
arg_camera = declare_configurable_parameters(configurable_parameters)
|
||||
arg = arg_camera + args_detect
|
||||
|
||||
return LaunchDescription(arg + [
|
||||
OpaqueFunction(function=launch_setup, kwargs = {'params' : set_configurable_parameters(configurable_parameters)}),
|
||||
OpaqueFunction(function=create_detect_node),
|
||||
])
|
||||
@@ -171,8 +171,6 @@ def crop_mask_bbox(depth_img, mask):
|
||||
class DetectNode(Node):
|
||||
def __init__(self, name, mode):
|
||||
super().__init__(name)
|
||||
self.checkpoint_path = None
|
||||
self.checkpoint_name = None
|
||||
self.function = None
|
||||
self.output_boxes = None
|
||||
self.output_masks = None
|
||||
@@ -182,7 +180,6 @@ class DetectNode(Node):
|
||||
self.mode = mode
|
||||
self.device = None
|
||||
self.calculate_function = None
|
||||
self.fx = self.fy = 0.5
|
||||
|
||||
self.cv_bridge = CvBridge()
|
||||
|
||||
@@ -213,9 +210,6 @@ class DetectNode(Node):
|
||||
self.declare_parameter('output_masks', False)
|
||||
self.output_masks = self.get_parameter('output_masks').value
|
||||
|
||||
self.declare_parameter('set_confidence', 0.6)
|
||||
self.set_confidence = self.get_parameter('set_confidence').value
|
||||
|
||||
self.declare_parameter('color_image_topic', '/camera/color/image_raw')
|
||||
self.color_image_topic = self.get_parameter('color_image_topic').value
|
||||
|
||||
@@ -228,9 +222,6 @@ class DetectNode(Node):
|
||||
self.declare_parameter('device', 'cpu')
|
||||
self.device = self.get_parameter('device').value
|
||||
|
||||
self.declare_parameter('width', 1280)
|
||||
self.declare_parameter('high', 720)
|
||||
self.expect_size = [self.get_parameter('width').value, self.get_parameter('high').value]
|
||||
|
||||
def _init_publisher(self):
|
||||
"""init_publisher"""
|
||||
|
||||
Reference in New Issue
Block a user