171 lines
6.1 KiB
Python
171 lines
6.1 KiB
Python
def generate_launch_description():
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print("The skill must be launched via interface node")
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return []
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# # ROS2 imports
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# from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
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# # from launch.actions import IncludeLaunchDescription
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# # from launch.launch_description_sources import PythonLaunchDescriptionSource
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# from launch import LaunchDescription
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# from launch_ros.actions import Node
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# from launch.actions import DeclareLaunchArgument
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# # from launch_ros.substitutions import FindPackageShare
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# # from launch.conditions import IfCondition, UnlessCondition
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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 yaml
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# def generate_launch_description():
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# aruco_params_file = os.path.join(
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# get_package_share_directory('rbss_aruco_pe'),
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# 'config',
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# 'aruco_parameters.yaml'
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# )
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# with open(aruco_params_file, 'r') as file:
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# config = yaml.safe_load(file)
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# config = config["/aruco_node"]["ros__parameters"]
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# # declare configuration parameters
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# marker_size_arg = DeclareLaunchArgument(
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# name='marker_size',
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# default_value=str(config['marker_size']),
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# description='Size of the aruco marker in meters',
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# )
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# aruco_dictionary_id_arg = DeclareLaunchArgument(
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# name='aruco_dictionary_id',
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# default_value=config['aruco_dictionary_id'],
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# description='ID of the aruco dictionary to use',
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# )
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# image_topic_arg = DeclareLaunchArgument(
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# name='image_topic',
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# default_value=config['image_topic'],
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# description='Name of the image RGB topic to subscribe to',
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# )
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# use_depth_input_arg = DeclareLaunchArgument(
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# name='use_depth_input',
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# default_value=str(config['use_depth_input']),
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# description='Use depth input for pose estimation',
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# choices=['true', 'false', 'True', 'False']
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# )
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# depth_image_topic_arg = DeclareLaunchArgument(
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# name='depth_image_topic',
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# default_value=config['depth_image_topic'],
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# description='Name of the depth image topic to subscribe to',
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# )
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# camera_info_topic_arg = DeclareLaunchArgument(
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# name='camera_info_topic',
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# default_value=config['camera_info_topic'],
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# description='Name of the camera info topic to subscribe to',
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# )
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# camera_frame_arg = DeclareLaunchArgument(
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# name='camera_frame',
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# default_value=config['camera_frame'],
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# description='Name of the camera frame where the estimated pose will be',
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# )
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# detected_markers_topic_arg = DeclareLaunchArgument(
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# name='detected_markers_topic',
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# default_value=config['detected_markers_topic'],
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# description='Name of the topic to publish the detected markers messages',
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# )
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# markers_visualization_topic_arg = DeclareLaunchArgument(
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# name='markers_visualization_topic',
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# default_value=config['markers_visualization_topic'],
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# description='Name of the topic to publish the pose array for visualization of the markers',
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# )
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# output_image_topic_arg = DeclareLaunchArgument(
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# name='output_image_topic',
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# default_value=config['output_image_topic'],
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# description='Name of the topic to publish the image with the detected markers',
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# )
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# aruco_node = Node(
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# package='rbss_aruco_pe',
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# executable='aruco_node.py',
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# parameters=[{
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# "marker_size": LaunchConfiguration('marker_size'),
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# "aruco_dictionary_id": LaunchConfiguration('aruco_dictionary_id'),
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# "image_topic": LaunchConfiguration('image_topic'),
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# "use_depth_input": LaunchConfiguration('use_depth_input'),
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# "depth_image_topic": LaunchConfiguration('depth_image_topic'),
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# "camera_info_topic": LaunchConfiguration('camera_info_topic'),
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# "camera_frame": LaunchConfiguration('camera_frame'),
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# "detected_markers_topic": LaunchConfiguration('detected_markers_topic'),
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# "markers_visualization_topic": LaunchConfiguration('markers_visualization_topic'),
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# "output_image_topic": LaunchConfiguration('output_image_topic'),
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# }],
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# output='screen',
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# emulate_tty=True
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# )
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# # # launch realsense camera node
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# # cam_feed_launch_file = PathJoinSubstitution(
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# # [FindPackageShare("realsense2_camera"), "launch", "rs_launch.py"]
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# # )
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# # camera_feed_depth_node = IncludeLaunchDescription(
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# # PythonLaunchDescriptionSource(cam_feed_launch_file),
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# # launch_arguments={
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# # "pointcloud.enable": "true",
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# # "enable_rgbd": "true",
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# # "enable_sync": "true",
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# # "align_depth.enable": "true",
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# # "enable_color": "true",
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# # "enable_depth": "true",
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# # }.items(),
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# # condition=IfCondition(LaunchConfiguration('use_depth_input'))
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# # )
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# # camera_feed_node = IncludeLaunchDescription(
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# # PythonLaunchDescriptionSource(cam_feed_launch_file),
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# # launch_arguments={
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# # "pointcloud.enable": "true",
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# # "enable_color": "true",
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# # }.items(),
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# # condition=UnlessCondition(LaunchConfiguration('use_depth_input'))
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# # )
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# # rviz_file = PathJoinSubstitution([
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# # FindPackageShare('rbss_aruco_pe'),
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# # 'rviz',
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# # 'cam_detect.rviz'
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# # ])
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# # rviz2_node = Node(
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# # package='rviz2',
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# # executable='rviz2',
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# # arguments=['-d', rviz_file]
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# # )
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# return LaunchDescription([
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# # Arguments
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# marker_size_arg,
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# aruco_dictionary_id_arg,
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# image_topic_arg,
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# use_depth_input_arg,
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# depth_image_topic_arg,
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# camera_info_topic_arg,
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# camera_frame_arg,
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# detected_markers_topic_arg,
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# markers_visualization_topic_arg,
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# output_image_topic_arg,
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# # Nodes
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# aruco_node,
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# # camera_feed_depth_node,
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# # camera_feed_node,
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# # rviz2_node
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# ])
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