Go2Py/deploy/launch_files/realsense-h264.launch.py

50 lines
1.6 KiB
Python

import os
from ament_index_python.packages import get_package_share_directory
import launch
from launch.actions import ExecuteProcess
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
color_format_converter_node = ComposableNode(
package='isaac_ros_image_proc',
plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode',
name='image_format_node_color',
parameters=[{
'encoding_desired': 'rgb8',
}],
remappings=[
('image_raw', '/go2/d455/color/image_raw'),
('image', '/go2/d455/color/image_raw_mono')]
)
color_encoder_node = ComposableNode(
package='isaac_ros_h264_encoder',
plugin='nvidia::isaac_ros::h264_encoder::EncoderNode',
name='color_encoder_node',
parameters=[{
'input_width': 640,
'input_height': 480,
}],
remappings=[
('image_raw', 'go2/realsense/color/image_raw_mono'),
('image_compressed', 'go2/realsense/color/image_raw_compressed')]
)
container = ComposableNodeContainer(
name='encoder_container',
namespace='encoder',
package='rclcpp_components',
executable='component_container_mt',
composable_node_descriptions=[
color_format_converter_node,
# color_encoder_node
],
output='screen'
)
return (launch.LaunchDescription([container]))