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realsense2_camera/examples/align_depth/rs_align_depth_launch.py
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| # 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 | ||
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| """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 | ||
|
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| 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'}, | ||
| ] | ||
|
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| def set_configurable_parameters(local_params): | ||
| return dict([(param['name'], LaunchConfiguration(param['name'])) for param in local_params]) | ||
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| 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)} | ||
| ) | ||
| ]) |
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