76 lines
3.0 KiB
Python
76 lines
3.0 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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import launch
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from launch.actions import ExecuteProcess
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from launch_ros.actions import ComposableNodeContainer
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from launch_ros.descriptions import ComposableNode
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def generate_launch_description():
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# RealSense
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# realsense_config_file_path = os.path.join(
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# get_package_share_directory('isaac_ros_h264_encoder'),
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# 'config', 'realsense.yaml'
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# )
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realsense_config_file_path = 'realsense.yaml'
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realsense_node = ComposableNode(
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package='realsense2_camera',
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plugin='realsense2_camera::RealSenseNodeFactory',
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parameters=[realsense_config_file_path],
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remappings=[
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('infra1/image_rect_raw', 'go2/realsense/left/image_rect_raw_mono'),
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('infra2/image_rect_raw', 'go2/realsense/right/image_rect_raw_mono'),
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('color/image_raw', 'go2/realsense/color/image_raw_mono'),
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('infra1/camera_info', 'go2/realsense/left/camera_info'),
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('infra2/camera_info', 'go2/realsense/right/camera_info'),
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('color/camera_info', 'go2/realsense/color/camera_info'),
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('depth/camera_info', 'go2/realsense/depth/camera_info'),
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('depth/color/points', 'go2/realsense/depth/color/points'),
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('depth/image_rect_raw', 'go2/realsense/depth/image_rect_raw'),
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('extrinsics/depth_to_accel', 'go2/realsense/extrinsics/depth_to_accel'),
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('extrinsics/depth_to_color', 'go2/realsense/extrinsics/depth_to_color'),
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('extrinsics/depth_to_gyro', 'go2/realsense/extrinsics/depth_to_gyro'),
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('imu', 'go2/realsense/imu'),
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]
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)
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color_format_converter_node = ComposableNode(
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package='isaac_ros_image_proc',
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plugin='nvidia::isaac_ros::image_proc::ImageFormatConverterNode',
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name='image_format_node_color',
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parameters=[{
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'encoding_desired': 'rgb8',
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}],
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remappings=[
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('image_raw', 'go2/realsense/color/image_raw_mono'),
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('image', 'go2/realsense/color/image_raw')]
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)
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color_encoder_node = ComposableNode(
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package='isaac_ros_h264_encoder',
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plugin='nvidia::isaac_ros::h264_encoder::EncoderNode',
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name='color_encoder_node',
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parameters=[{
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'input_width': 640,
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'input_height': 480,
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}],
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remappings=[
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('image_raw', 'go2/realsense/color/image_raw_mono'),
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('image_compressed', 'go2/realsense/color/image_raw_compressed')]
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)
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container = ComposableNodeContainer(
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name='encoder_container',
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namespace='encoder',
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package='rclcpp_components',
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executable='component_container_mt',
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composable_node_descriptions=[realsense_node,
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color_format_converter_node,
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color_encoder_node],
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output='screen'
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)
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return (launch.LaunchDescription([container]))
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