Add 'find-object/' from commit '635efcd6220cabc258b88c54b1ae4279035bbe31'

git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c git-subtree-split: 635efcd622
2023-02-25 14:20:22 +05:30
parent 9bd639e88c 635efcd622
commit fabea45044
142 changed files with 33699 additions and 0 deletions
@@ -0,0 +1,30 @@
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+   
+    return LaunchDescription([
+
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
+
+        # Launch arguments
+        DeclareLaunchArgument('gui', default_value='true', description='Launch GUI.'),
+        DeclareLaunchArgument('image_topic', default_value='image', description='Image topic to subscribe to.'),
+        DeclareLaunchArgument('objects_path', default_value='~/objects', description='Directory containing objects to load on initialization.'),
+        DeclareLaunchArgument('settings_path', default_value='~/.ros/find_object_2d.ini', description='Config file.'),
+
+        # Nodes to launch
+        Node(
+            package='find_object_2d', executable='find_object_2d', output='screen',
+            parameters=[{
+              'gui':LaunchConfiguration('gui'),
+              'objects_path':LaunchConfiguration('objects_path'),
+              'settings_path':LaunchConfiguration('settings_path')
+            }],
+            remappings=[
+                ('image', LaunchConfiguration('image_topic'))]), 
+    ])
@@ -0,0 +1,42 @@
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+   
+    return LaunchDescription([
+
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
+
+        # Launch arguments
+        DeclareLaunchArgument('gui', default_value='true', description='Launch GUI.'),
+        DeclareLaunchArgument('approx_sync', default_value='true', description=''),
+        DeclareLaunchArgument('pnp', default_value='true', description=''),
+        DeclareLaunchArgument('object_prefix', default_value='object', description='TF prefix of objects.'),
+        DeclareLaunchArgument('objects_path', default_value='~/objects', description='Directory containing objects to load on initialization.'),
+        DeclareLaunchArgument('settings_path', default_value='~/.ros/find_object_2d.ini', description='Config file.'),
+
+        DeclareLaunchArgument('rgb_topic', default_value='camera/rgb/image_rect_color', description='Image topic.'),
+        DeclareLaunchArgument('depth_topic', default_value='camera/depth_registered/image_raw', description='Registered depth topic.'),
+        DeclareLaunchArgument('camera_info_topic', default_value='camera/rgb/camera_info', description='Camera info topic.'),
+
+        # Nodes to launch
+        Node(
+            package='find_object_2d', executable='find_object_2d', output='screen',
+            parameters=[{
+              'subscribe_depth':True,
+              'gui':LaunchConfiguration('gui'),
+              'approx_sync':LaunchConfiguration('approx_sync'),
+              'pnp':LaunchConfiguration('pnp'),
+              'object_prefix':LaunchConfiguration('object_prefix'),
+              'objects_path':LaunchConfiguration('objects_path'),
+              'settings_path':LaunchConfiguration('settings_path')
+            }],
+            remappings=[
+                ('rgb/image_rect_color', LaunchConfiguration('rgb_topic')),
+                ('depth_registered/image_raw', LaunchConfiguration('depth_topic')),
+                ('depth_registered/camera_info', LaunchConfiguration('camera_info_topic'))]), 
+    ])