added align_depth and get params from YAML examples

realsense2_camera/examples/align_depth/rs_align_depth_launch.py

@@ -0,0 +1,56 @@
+# 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.
+
+# DESCRIPTION #
+# ----------- #
+# Use this launch file to launch a device and align depth to color.
+# 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_align_depth_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 sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
+import os
+from ament_index_python.packages import get_package_share_directory
+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': 'enable_color',                 'default': 'true', 'description': 'enable color stream'},
+                    {'name': 'enable_depth',                 'default': 'true', 'description': 'enable depth stream'},
+                    {'name': 'align_depth.enable',           'default': 'true', 'description': 'enable align depth filter'},
+                    {'name': 'enable_sync',                  'default': 'true', 'description': 'enable sync mode'},
+                   ]
+
+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
+    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)}
+        )
+    ])

realsense2_camera/examples/launch_from_rosbag/rs_launch_from_rosbag.py

@@ -0,0 +1,56 @@
+# 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.
+
+# DESCRIPTION #
+# ----------- #
+# Use this launch file to launch a device from rosbag file.
+# 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_launch_from_rosbag.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 sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
+import os
+from ament_index_python.packages import get_package_share_directory
+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': 'enable_depth',        'default': 'true', 'description': 'enable depth stream'},
+                    {'name': 'enable_gyro',         'default': 'true', 'description': "'enable gyro stream'"},
+                    {'name': 'enable_accel',        'default': 'true', 'description': "'enable accel stream'"},
+                    {'name': 'rosbag_filename',     'default': [ThisLaunchFileDir(), "/D435i_Depth_and_IMU_Stands_still.bag"], 'description': 'A realsense bagfile to run from as a device'},
+                   ]
+
+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
+    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)}
+        )
+    ])

realsense2_camera/examples/launch_params_from_file/config.yaml

@@ -0,0 +1,6 @@
+enable_color: true
+rgb_camera.profile: 1280x720x15
+enable_depth: true
+align_depth.enable: true
+enable_sync: true
+

realsense2_camera/examples/launch_params_from_file/rs_launch_get_params_from_yaml.py

@@ -0,0 +1,53 @@
+# 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.
+
+# DESCRIPTION #
+# ----------- #
+# Use this launch file to launch a device and get the params from a YAML file.
+# 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_launch_get_params_from_yaml.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 sys
+import pathlib
+sys.path.append(str(pathlib.Path(__file__).parent.absolute()))
+import os
+from ament_index_python.packages import get_package_share_directory
+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': 'config_file',         'default': [ThisLaunchFileDir(), "/config.yaml"], 'description': 'yaml config file'},
+                   ]
+
+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
+    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)}
+        )
+    ])

realsense2_camera/examples/pointcloud/rs_d455_pointcloud_launch.py

@@ -35,6 +35,7 @@
 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': "d455", 'description': 'choose device by type'},
                     {'name': 'enable_color',                 'default': 'true', 'description': 'enable color stream'},
                     {'name': 'enable_depth',                 'default': 'true', 'description': 'enable depth stream'},

realsense2_camera/examples/pointcloud/rs_pointcloud_launch.py

@@ -33,6 +33,7 @@
 import rs_launch
 
 local_parameters = [{'name': 'camera_name',                  'default': 'camera', 'description': 'camera unique name'},
+                    {'name': 'camera_namespace',             'default': 'camera', 'description': 'camera namespace'},
                     {'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'},