Bug fiix import patron.xacro and append packages realsense2
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Даниил Грабарь
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# Copyright 2023 RealSense, Inc. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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'''
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Launch realsense2_camera node & a frame latency printer node,
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This tool allow the user the evaluate the reduction of the frame latency when intra-process communication is used.
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Run syntax: ros2 launch realsense2_camera rs_intra_process_demo_launch.py intra_process_comms:=true
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Note:
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* Running this tool require building with build tools flag on (colcon build --cmake-args '-DBUILD_TOOLS=ON')
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* Currently default for color stream only
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'''
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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# Make sure required packages can be found
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process = subprocess.run(['ros2','component', 'types'],
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stdout=subprocess.PIPE,
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universal_newlines=True)
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rs_node_class= 'RealSenseNodeFactory'
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rs_latency_tool_class = 'FrameLatencyNode'
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if process.stdout.find(rs_node_class) == -1 or process.stdout.find(rs_latency_tool_class) == -1 :
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sys.exit('Cannot locate all required node components (' + rs_node_class + ',' + rs_latency_tool_class + ') on the available component list\n' + process.stdout + \
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'\nplease make sure you run "colcon build --cmake-args \'-DBUILD_TOOLS=ON\'" command before running this launch file')
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realsense_node_params = [{'name': 'serial_no', 'default': "''", 'description': 'choose device by serial number'},
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{'name': 'usb_port_id', 'default': "''", 'description': 'choose device by usb port id'},
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{'name': 'device_type', 'default': "''", 'description': 'choose device by type'},
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{'name': 'log_level', 'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
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{'name': 'rgb_camera.profile', 'default': '0,0,0', 'description': 'color image width'},
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{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
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{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
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{'name': 'enable_infra', 'default': 'false', 'description': 'enable infra stream'},
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{'name': 'enable_infra1', 'default': 'true', 'description': 'enable infra1 stream'},
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{'name': 'enable_infra2', 'default': 'true', 'description': 'enable infra2 stream'},
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{'name': 'enable_gyro', 'default': 'true', 'description': "enable gyro stream"},
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{'name': 'enable_accel', 'default': 'true', 'description': "enable accel stream"},
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{'name': 'unite_imu_method', 'default': "1", 'description': '[0-None, 1-copy, 2-linear_interpolation]'},
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{'name': 'intra_process_comms', 'default': 'true', 'description': "enable intra-process communication"},
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{'name': 'enable_sync', 'default': 'true', 'description': "'enable sync mode'"},
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{'name': 'pointcloud.enable', 'default': 'true', 'description': ''},
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{'name': 'enable_rgbd', 'default': 'true', 'description': "'enable rgbd topic'"},
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{'name': 'align_depth.enable', 'default': 'true', 'description': "'enable align depth filter'"},
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{'name': 'publish_tf', 'default': 'true', 'description': '[bool] enable/disable publishing static & dynamic TF'},
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{'name': 'tf_publish_rate', 'default': '1.0', 'description': '[double] rate in HZ for publishing dynamic TF'},
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]
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frame_latency_node_params = [{'name': 'topic_name', 'default': '/camera/color/image_raw', 'description': 'topic to which latency calculated'},
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{'name': 'topic_type', 'default': 'image', 'description': 'topic type [image|points|imu|metadata|camera_info|rgbd|imu_info|tf]'},
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]
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def declare_configurable_parameters(parameters):
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return [DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description']) for param in parameters]
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def set_configurable_parameters(parameters):
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return dict([(param['name'], LaunchConfiguration(param['name'])) for param in parameters])
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def generate_launch_description():
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return LaunchDescription(declare_configurable_parameters(realsense_node_params) +
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declare_configurable_parameters(frame_latency_node_params) +[
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ComposableNodeContainer(
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name='my_container',
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namespace='',
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package='rclcpp_components',
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executable='component_container',
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composable_node_descriptions=[
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ComposableNode(
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package='realsense2_camera',
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namespace='',
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plugin='realsense2_camera::' + rs_node_class,
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name="camera",
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parameters=[set_configurable_parameters(realsense_node_params)],
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extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("intra_process_comms")}]) ,
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ComposableNode(
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package='realsense2_camera',
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namespace='',
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plugin='rs2_ros::tools::frame_latency::' + rs_latency_tool_class,
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name='frame_latency',
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parameters=[set_configurable_parameters(frame_latency_node_params)],
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extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("intra_process_comms")}]) ,
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],
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output='screen',
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emulate_tty=True, # needed for display of logs
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arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level')],
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)])
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