forked from Hshine/RM_Vison
83 lines
2.8 KiB
Python
83 lines
2.8 KiB
Python
|
import os
|
||
|
|
import sys
|
||
|
|
from ament_index_python.packages import get_package_share_directory
|
||
|
|
sys.path.append(os.path.join(get_package_share_directory('rm_vision_bringup'), 'launch'))
|
||
|
|
|
||
|
|
|
||
|
|
def generate_launch_description():
|
||
|
|
|
||
|
|
from common import node_params, launch_params, robot_state_publisher, tracker_node
|
||
|
|
from launch_ros.descriptions import ComposableNode
|
||
|
|
from launch_ros.actions import ComposableNodeContainer, Node
|
||
|
|
from launch.actions import TimerAction, Shutdown
|
||
|
|
from launch import LaunchDescription
|
||
|
|
|
||
|
|
def get_camera_node(package, plugin):
|
||
|
|
return ComposableNode(
|
||
|
|
package=package,
|
||
|
|
plugin=plugin,
|
||
|
|
name='camera_node',
|
||
|
|
parameters=[node_params],
|
||
|
|
extra_arguments=[{'use_intra_process_comms': True}]
|
||
|
|
)
|
||
|
|
|
||
|
|
def get_camera_detector_container(camera_node):
|
||
|
|
return ComposableNodeContainer(
|
||
|
|
name='camera_detector_container',
|
||
|
|
namespace='',
|
||
|
|
package='rclcpp_components',
|
||
|
|
executable='component_container',
|
||
|
|
composable_node_descriptions=[
|
||
|
|
camera_node,
|
||
|
|
ComposableNode(
|
||
|
|
package='armor_detector',
|
||
|
|
plugin='rm_auto_aim::ArmorDetectorNode',
|
||
|
|
name='armor_detector',
|
||
|
|
parameters=[node_params],
|
||
|
|
extra_arguments=[{'use_intra_process_comms': True}]
|
||
|
|
)
|
||
|
|
],
|
||
|
|
output='screen',
|
||
|
|
emulate_tty=True,
|
||
|
|
ros_arguments=['--ros-args', '--log-level',
|
||
|
|
'armor_detector:='+launch_params['detector_log_level']],
|
||
|
|
on_exit=Shutdown(),
|
||
|
|
)
|
||
|
|
|
||
|
|
hik_camera_node = get_camera_node('hik_camera', 'hik_camera::HikCameraNode')
|
||
|
|
mv_camera_node = get_camera_node('mindvision_camera', 'mindvision_camera::MVCameraNode')
|
||
|
|
|
||
|
|
if (launch_params['camera'] == 'hik'):
|
||
|
|
cam_detector = get_camera_detector_container(hik_camera_node)
|
||
|
|
elif (launch_params['camera'] == 'mv'):
|
||
|
|
cam_detector = get_camera_detector_container(mv_camera_node)
|
||
|
|
|
||
|
|
serial_driver_node = Node(
|
||
|
|
package='rm_serial_driver',
|
||
|
|
executable='rm_serial_driver_node',
|
||
|
|
name='serial_driver',
|
||
|
|
output='both',
|
||
|
|
emulate_tty=True,
|
||
|
|
parameters=[node_params],
|
||
|
|
on_exit=Shutdown(),
|
||
|
|
ros_arguments=['--ros-args', '--log-level',
|
||
|
|
'serial_driver:='+launch_params['serial_log_level']],
|
||
|
|
)
|
||
|
|
|
||
|
|
delay_serial_node = TimerAction(
|
||
|
|
period=1.5,
|
||
|
|
actions=[serial_driver_node],
|
||
|
|
)
|
||
|
|
|
||
|
|
delay_tracker_node = TimerAction(
|
||
|
|
period=2.0,
|
||
|
|
actions=[tracker_node],
|
||
|
|
)
|
||
|
|
|
||
|
|
return LaunchDescription([
|
||
|
|
robot_state_publisher,
|
||
|
|
cam_detector,
|
||
|
|
delay_serial_node,
|
||
|
|
delay_tracker_node,
|
||
|
|
])
|