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rs_launch.py
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rs_launch.py
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# Copyright (c) 2018 Intel Corporation
#
# 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
from launch import LaunchDescription
from ament_index_python.packages import get_package_share_directory
import launch_ros.actions
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch.conditions import IfCondition
configurable_parameters = [{'name': 'camera_name', 'default': 'camera', 'description': 'camera unique name'},
{'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': 'enable_pointcloud', 'default': 'false', 'description': 'enable pointcloud'},
{'name': 'unite_imu_method', 'default': "''", 'description': '[copy|linear_interpolation]'},
{'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_width', 'default': '-1', 'description': 'depth image width'},
{'name': 'depth_height', 'default': '-1', 'description': 'depth image height'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'color_width', 'default': '-1', 'description': 'color image width'},
{'name': 'color_height', 'default': '-1', 'description': 'color image height'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'infra_width', 'default': '-1', 'description': 'infra width'},
{'name': 'infra_height', 'default': '-1', 'description': 'infra width'},
{'name': 'enable_infra1', 'default': 'true', 'description': 'enable infra1 stream'},
{'name': 'enable_infra2', 'default': 'true', 'description': 'enable infra2 stream'},
{'name': 'infra_rgb', 'default': 'false', 'description': 'enable infra2 stream'},
{'name': 'fisheye_width', 'default': '-1', 'description': 'fisheye width'},
{'name': 'fisheye_height', 'default': '-1', 'description': 'fisheye width'},
{'name': 'enable_fisheye1', 'default': 'true', 'description': 'enable fisheye1 stream'},
{'name': 'enable_fisheye2', 'default': 'true', 'description': 'enable fisheye2 stream'},
{'name': 'confidence_width', 'default': '-1', 'description': 'depth image width'},
{'name': 'confidence_height', 'default': '-1', 'description': 'depth image height'},
{'name': 'enable_confidence', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'fisheye_fps', 'default': '-1.', 'description': ''},
{'name': 'depth_fps', 'default': '-1.', 'description': ''},
{'name': 'confidence_fps', 'default': '-1.', 'description': ''},
{'name': 'infra_fps', 'default': '-1.', 'description': ''},
{'name': 'color_fps', 'default': '-1.', 'description': ''},
{'name': 'gyro_fps', 'default': '-1.', 'description': ''},
{'name': 'accel_fps', 'default': '-1.', 'description': ''},
{'name': 'color_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'confidence_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'depth_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'fisheye_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'infra_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'pointcloud_qos', 'default': 'SYSTEM_DEFAULT', 'description': 'QoS profile name'},
{'name': 'enable_gyro', 'default': 'false', 'description': ''},
{'name': 'enable_accel', 'default': 'false', 'description': ''},
{'name': 'pointcloud_texture_stream', 'default': 'RS2_STREAM_COLOR', 'description': 'testure stream for pointcloud'},
{'name': 'pointcloud_texture_index', 'default': '0', 'description': 'testure stream index for pointcloud'},
{'name': 'enable_sync', 'default': 'false', 'description': ''},
{'name': 'align_depth', 'default': 'false', 'description': ''},
{'name': 'filters', 'default': "''", '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': 'ordered_pc', 'default': 'false', 'description': ''},
{'name': 'calib_odom_file', 'default': "''", 'description': "''"},
{'name': 'topic_odom_in', 'default': "''", 'description': 'topic for T265 wheel odometry'},
{'name': 'tf_publish_rate', 'default': '0.0', 'description': 'Rate of publishing static_tf'},
{'name': 'diagnostics_period', 'default': '0.0', 'description': 'Rate of publishing diagnostics. 0=Disabled'},
{'name': 'rosbag_filename', 'default': "''", 'description': 'A realsense bagfile to run from as a device'},
{'name': 'temporal.holes_fill', 'default': '0', 'description': 'Persistency mode'},
{'name': 'stereo_module.exposure.1', 'default': '7500', 'description': 'Initial value for hdr_merge filter'},
{'name': 'stereo_module.gain.1', 'default': '16', 'description': 'Initial value for hdr_merge filter'},
{'name': 'stereo_module.exposure.2', 'default': '1', 'description': 'Initial value for hdr_merge filter'},
{'name': 'stereo_module.gain.2', 'default': '16', 'description': 'Initial value for hdr_merge filter'},
{'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'},
]
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 generate_launch_description():
log_level = 'info'
if (os.getenv('ROS_DISTRO') == "dashing") or (os.getenv('ROS_DISTRO') == "eloquent"):
return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [
# Realsense
launch_ros.actions.Node(
condition=IfCondition(PythonExpression([LaunchConfiguration('config_file'), " == ''"])),
package='realsense2_camera',
node_namespace=LaunchConfiguration("camera_name"),
node_name=LaunchConfiguration("camera_name"),
node_executable='realsense2_camera_node',
prefix=['stdbuf -o L'],
parameters=[set_configurable_parameters(configurable_parameters)
],
output='screen',
arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
),
launch_ros.actions.Node(
condition=IfCondition(PythonExpression([LaunchConfiguration('config_file'), " != ''"])),
package='realsense2_camera',
node_namespace=LaunchConfiguration("camera_name"),
node_name=LaunchConfiguration("camera_name"),
node_executable='realsense2_camera_node',
prefix=['stdbuf -o L'],
parameters=[set_configurable_parameters(configurable_parameters)
, PythonExpression([LaunchConfiguration("config_file")])
],
output='screen',
arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
),
])
else:
return LaunchDescription(declare_configurable_parameters(configurable_parameters) + [
# Realsense
launch_ros.actions.Node(
condition=IfCondition(PythonExpression([LaunchConfiguration('config_file'), " == ''"])),
package='realsense2_camera',
namespace=LaunchConfiguration("camera_name"),
name=LaunchConfiguration("camera_name"),
executable='realsense2_camera_node',
parameters=[set_configurable_parameters(configurable_parameters)
],
output='screen',
arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
emulate_tty=True,
),
launch_ros.actions.Node(
condition=IfCondition(PythonExpression([LaunchConfiguration('config_file'), " != ''"])),
package='realsense2_camera',
namespace=LaunchConfiguration("camera_name"),
name=LaunchConfiguration("camera_name"),
executable='realsense2_camera_node',
parameters=[set_configurable_parameters(configurable_parameters)
, PythonExpression([LaunchConfiguration("config_file")])
],
output='screen',
arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
emulate_tty=True,
),
])