113 lines
3.9 KiB
Python
113 lines
3.9 KiB
Python
# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
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# Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# SPDX-License-Identifier: Apache-2.0
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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_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', 'left/image_rect_raw_mono'),
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('infra2/image_rect_raw', 'right/image_rect_raw_mono'),
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('infra1/camera_info', 'left/camerainfo'),
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('infra2/camera_info', 'right/camerainfo')
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]
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)
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left_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_left',
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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', 'left/image_rect_raw_mono'),
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('image', 'left/image_rect_raw')]
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)
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right_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_right',
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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', 'right/image_rect_raw_mono'),
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('image', 'right/image_rect_raw')]
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)
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left_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='left_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', 'left/image_rect_raw'),
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('image_compressed', 'left/image_compressed')]
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)
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right_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='right_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', 'right/image_rect_raw'),
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('image_compressed', 'right/image_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, left_format_converter_node,
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right_format_converter_node,
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left_encoder_node, right_encoder_node],
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output='screen'
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)
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rosbag_record = ExecuteProcess(
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cmd=['ros2', 'bag', 'record', '/left/camerainfo', '/right/camerainfo',
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'/left/image_compressed', '/right/image_compressed'],
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output='screen')
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return (launch.LaunchDescription([rosbag_record, container]))
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