apoorva
fabea45044
git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89 git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
43 lines
2.2 KiB
Python
43 lines
2.2 KiB
Python
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
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SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
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# Launch arguments
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DeclareLaunchArgument('gui', default_value='true', description='Launch GUI.'),
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DeclareLaunchArgument('approx_sync', default_value='true', description=''),
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DeclareLaunchArgument('pnp', default_value='true', description=''),
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DeclareLaunchArgument('object_prefix', default_value='object', description='TF prefix of objects.'),
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DeclareLaunchArgument('objects_path', default_value='~/objects', description='Directory containing objects to load on initialization.'),
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DeclareLaunchArgument('settings_path', default_value='~/.ros/find_object_2d.ini', description='Config file.'),
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DeclareLaunchArgument('rgb_topic', default_value='camera/rgb/image_rect_color', description='Image topic.'),
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DeclareLaunchArgument('depth_topic', default_value='camera/depth_registered/image_raw', description='Registered depth topic.'),
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DeclareLaunchArgument('camera_info_topic', default_value='camera/rgb/camera_info', description='Camera info topic.'),
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# Nodes to launch
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Node(
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package='find_object_2d', executable='find_object_2d', output='screen',
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parameters=[{
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'subscribe_depth':True,
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'gui':LaunchConfiguration('gui'),
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'approx_sync':LaunchConfiguration('approx_sync'),
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'pnp':LaunchConfiguration('pnp'),
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'object_prefix':LaunchConfiguration('object_prefix'),
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'objects_path':LaunchConfiguration('objects_path'),
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'settings_path':LaunchConfiguration('settings_path')
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}],
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remappings=[
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('rgb/image_rect_color', LaunchConfiguration('rgb_topic')),
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('depth_registered/image_raw', LaunchConfiguration('depth_topic')),
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('depth_registered/camera_info', LaunchConfiguration('camera_info_topic'))]),
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])
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