forked from Hshine/RM_Vison
34 lines
1.2 KiB
Python
34 lines
1.2 KiB
Python
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import os
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from ament_index_python.packages import get_package_share_directory
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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 Node
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def generate_launch_description():
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params_file = os.path.join(
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get_package_share_directory('mindvision_camera'), 'config', 'camera_params.yaml')
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camera_info_url = 'package://mindvision_camera/config/camera_info.yaml'
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return LaunchDescription([
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DeclareLaunchArgument(name='params_file',
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default_value=params_file),
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DeclareLaunchArgument(name='camera_info_url',
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default_value=camera_info_url),
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DeclareLaunchArgument(name='use_sensor_data_qos',
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default_value='false'),
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Node(
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package='mindvision_camera',
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executable='mindvision_camera_node',
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output='screen',
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emulate_tty=True,
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parameters=[LaunchConfiguration('params_file'), {
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'camera_info_url': LaunchConfiguration('camera_info_url'),
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'use_sensor_data_qos': LaunchConfiguration('use_sensor_data_qos'),
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}],
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)
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])
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