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Merged
SamerKhshiboun merged 1 commit into from
Aug 8, 2023
Merged

Update rs_launch.py #2764

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31 changes: 16 additions & 15 deletions realsense2_camera/launch/rs_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@


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'},
Expand All @@ -30,7 +31,7 @@
{'name': 'json_file_path', 'default': "''", 'description': 'allows advanced configuration'},
{'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': 'depth_module.profile', 'default': '0,0,0', 'description': 'depth module profile'},
{'name': 'depth_module.profile', 'default': '0,0,0', 'description': 'depth module profile'},
{'name': 'depth_module.depth_format', 'default': 'Z16', 'description': 'depth stream format'},
{'name': 'depth_module.infra_format', 'default': 'RGB8', 'description': 'infra0 stream format'},
{'name': 'depth_module.infra1_format', 'default': 'Y8', 'description': 'infra1 stream format'},
Expand All @@ -46,24 +47,24 @@
{'name': 'enable_fisheye1', 'default': 'true', 'description': 'enable fisheye1 stream'},
{'name': 'enable_fisheye2', 'default': 'true', 'description': 'enable fisheye2 stream'},
{'name': 'enable_confidence', 'default': 'true', 'description': 'enable confidence'},
{'name': 'gyro_fps', 'default': '0', 'description': "''"},
{'name': 'accel_fps', 'default': '0', 'description': "''"},
{'name': 'enable_gyro', 'default': 'false', 'description': "'enable gyro stream'"},
{'name': 'enable_accel', 'default': 'false', 'description': "'enable accel stream'"},
{'name': 'enable_pose', 'default': 'true', 'description': "'enable pose stream'"},
{'name': 'pose_fps', 'default': '200', 'description': "''"},
{'name': 'gyro_fps', 'default': '0', 'description': "''"},
{'name': 'accel_fps', 'default': '0', 'description': "''"},
{'name': 'enable_gyro', 'default': 'false', 'description': "'enable gyro stream'"},
{'name': 'enable_accel', 'default': 'false', 'description': "'enable accel stream'"},
{'name': 'enable_pose', 'default': 'true', 'description': "'enable pose stream'"},
{'name': 'pose_fps', 'default': '200', 'description': "''"},
{'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': 'enable_sync', 'default': 'false', 'description': "'enable sync mode'"},
{'name': 'enable_rgbd', 'default': 'false', 'description': "'enable rgbd topic'"},
{'name': 'align_depth.enable', 'default': 'false', 'description': "'enable align depth filter'"},
{'name': 'colorizer.enable', 'default': 'false', 'description': "''"},
{'name': 'clip_distance', 'default': '-2.', 'description': "''"},
{'name': 'linear_accel_cov', 'default': '0.01', 'description': "''"},
{'name': 'initial_reset', 'default': 'false', 'description': "''"},
{'name': 'allow_no_texture_points', 'default': 'false', 'description': "''"},
{'name': 'pointcloud.ordered_pc', 'default': 'false', 'description': ''},
{'name': 'clip_distance', 'default': '-2.', 'description': "''"},
{'name': 'linear_accel_cov', 'default': '0.01', 'description': "''"},
{'name': 'initial_reset', 'default': 'false', 'description': "''"},
{'name': 'allow_no_texture_points', 'default': 'false', 'description': "''"},
{'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': 'diagnostics_period', 'default': '0.0', 'description': 'Rate of publishing diagnostics. 0=Disabled'},
Expand Down Expand Up @@ -99,7 +100,7 @@ def launch_setup(context, params, param_name_suffix=''):
return [
launch_ros.actions.Node(
package='realsense2_camera',
node_namespace=LaunchConfiguration('camera_name' + param_name_suffix),
node_namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),
node_name=LaunchConfiguration('camera_name' + param_name_suffix),
node_executable='realsense2_camera_node',
prefix=['stdbuf -o L'],
Expand All @@ -114,7 +115,7 @@ def launch_setup(context, params, param_name_suffix=''):
return [
launch_ros.actions.Node(
package='realsense2_camera',
namespace=LaunchConfiguration('camera_name' + param_name_suffix),
namespace=LaunchConfiguration('camera_namespace' + param_name_suffix),
name=LaunchConfiguration('camera_name' + param_name_suffix),
executable='realsense2_camera_node',
parameters=[params
Expand All @@ -125,7 +126,7 @@ def launch_setup(context, params, param_name_suffix=''):
emulate_tty=True,
)
]

def generate_launch_description():
return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [
OpaqueFunction(function=launch_setup, kwargs = {'params' : set_configurable_parameters(configurable_parameters)})
Expand Down
14 changes: 8 additions & 6 deletions realsense2_camera/launch/rs_multi_camera_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,9 +33,11 @@
sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
import rs_launch

local_parameters = [{'name': 'camera_name1', 'default': 'camera1', 'description': 'camera unique name'},
{'name': 'camera_name2', 'default': 'camera2', 'description': 'camera unique name'},
]
local_parameters = [{'name': 'camera_name1', 'default': 'camera1', 'description': 'camera1 unique name'},
{'name': 'camera_name2', 'default': 'camera2', 'description': 'camera2 unique name'},
{'name': 'camera_namespace1', 'default': 'camera1', 'description': 'camera1 namespace'},
{'name': 'camera_namespace2', 'default': 'camera2', 'description': 'camera2 namespace'},
]

def set_configurable_parameters(local_params):
return dict([(param['original_name'], LaunchConfiguration(param['name'])) for param in local_params])
Expand All @@ -46,7 +48,7 @@ def duplicate_params(general_params, posix):
param['original_name'] = param['name']
param['name'] += posix
return local_params

def add_node_action(context : LaunchContext):
# dummy static transformation from camera1 to camera2
node = launch_ros.actions.Node(
Expand All @@ -63,8 +65,8 @@ def generate_launch_description():
params2 = duplicate_params(rs_launch.configurable_parameters, '2')
return LaunchDescription(
rs_launch.declare_configurable_parameters(local_parameters) +
rs_launch.declare_configurable_parameters(params1) +
rs_launch.declare_configurable_parameters(params2) +
rs_launch.declare_configurable_parameters(params1) +
rs_launch.declare_configurable_parameters(params2) +
[
OpaqueFunction(function=rs_launch.launch_setup,
kwargs = {'params' : set_configurable_parameters(params1),
Expand Down