Bug fiix import patron.xacro and append packages realsense2

2026-04-14 14:20:27 +03:00
parent 1156c768bb
commit c95c94f67b
233 changed files with 41337 additions and 1 deletions
@@ -0,0 +1,92 @@
+# Copyright 2023 RealSense, Inc. 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.
+
+# DESCRIPTION #
+# ----------- #
+# Use this launch file to launch a device and visualize pointcloud along with the camera model D405.
+# The Parameters available for definition in the command line for the camera are described in rs_launch.configurable_parameters
+# command line example:
+# ros2 launch realsense2_camera rs_d405_pointcloud_launch.py
+
+"""Launch realsense2_camera node."""
+from launch import LaunchDescription
+import launch_ros.actions
+from launch.actions import OpaqueFunction
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+import os
+import sys
+import pathlib
+import xacro
+import tempfile
+from ament_index_python.packages import get_package_share_directory
+sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
+sys.path.append(os.path.join(get_package_share_directory('realsense2_camera'), 'launch'))
+import rs_launch
+
+local_parameters = [{'name': 'camera_name',                  'default': 'camera', 'description': 'camera unique name'},
+                    {'name': 'camera_namespace',             'default': 'camera', 'description': 'camera namespace'},
+                    {'name': 'device_type',                  'default': "d405", 'description': 'choose device by type'},
+                    {'name': 'enable_color',                 'default': 'true', 'description': 'enable color stream'},
+                    {'name': 'enable_depth',                 'default': 'true', 'description': 'enable depth stream'},
+                    {'name': 'pointcloud.enable',            'default': 'true', 'description': 'enable pointcloud'},
+                   ]
+
+def to_urdf(xacro_path, parameters=None):
+    """Convert the given xacro file to URDF file.
+    * xacro_path -- the path to the xacro file
+    * parameters -- to be used when xacro file is parsed.
+    """
+    urdf_path = tempfile.mktemp(prefix="%s_" % os.path.basename(xacro_path))
+
+    # open and process file
+    doc = xacro.process_file(xacro_path, mappings=parameters)
+    # open the output file
+    out = xacro.open_output(urdf_path)
+    out.write(doc.toprettyxml(indent='  '))
+
+    return urdf_path
+
+def set_configurable_parameters(local_params):
+    return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params])
+
+
+def generate_launch_description():
+    params = rs_launch.configurable_parameters
+    xacro_path = os.path.join(get_package_share_directory('realsense2_description'), 'urdf', 'test_d405_camera.urdf.xacro')
+    urdf = to_urdf(xacro_path, {'use_nominal_extrinsics': 'true', 'add_plug': 'true'})
+    return LaunchDescription(
+        rs_launch.declare_configurable_parameters(local_parameters) +
+        rs_launch.declare_configurable_parameters(params) + 
+        [
+        OpaqueFunction(function=rs_launch.launch_setup,
+                kwargs = {'params' : set_configurable_parameters(params)}
+        ),
+        launch_ros.actions.Node(
+            package='rviz2',
+            namespace='',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', [ThisLaunchFileDir(), '/rviz/urdf_pointcloud.rviz']],
+            output='screen',
+            parameters=[{'use_sim_time': False}]
+        ),
+        launch_ros.actions.Node(
+            name='model_node',
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            namespace='',
+            output='screen',
+            arguments=[urdf]
+        )
+    ])