89 lines
3.2 KiB
Python
89 lines
3.2 KiB
Python
|
from launch import LaunchDescription
|
||
|
|
from launch_ros.actions import Node
|
||
|
|
from launch.actions import DeclareLaunchArgument
|
||
|
|
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
|
||
|
|
from launch.conditions import IfCondition, UnlessCondition
|
||
|
|
from launch.substitutions import TextSubstitution
|
||
|
|
|
||
|
|
def generate_launch_description():
|
||
|
|
# Declare launch arguments
|
||
|
|
video_device_arg = DeclareLaunchArgument(
|
||
|
|
'video_device', default_value='/dev/video0',
|
||
|
|
description='Video device path')
|
||
|
|
|
||
|
|
pixel_format_arg = DeclareLaunchArgument(
|
||
|
|
'pixel_format', default_value='YUYV',
|
||
|
|
description='Pixel format')
|
||
|
|
|
||
|
|
output_encoding_arg = DeclareLaunchArgument(
|
||
|
|
'output_encoding', default_value='yuv422_yuy2',
|
||
|
|
description='Output encoding')
|
||
|
|
|
||
|
|
image_size_arg = DeclareLaunchArgument(
|
||
|
|
'image_size', default_value='[640, 480]',
|
||
|
|
description='Image size')
|
||
|
|
|
||
|
|
camera_frame_id_arg = DeclareLaunchArgument(
|
||
|
|
'camera_frame_id', default_value='camera_optical_link',
|
||
|
|
description='Camera frame ID')
|
||
|
|
|
||
|
|
params_file_arg = DeclareLaunchArgument(
|
||
|
|
'params_file', default_value='',
|
||
|
|
description='Path to the parameters file')
|
||
|
|
|
||
|
|
device_namespace_arg = DeclareLaunchArgument(
|
||
|
|
'device_namespace', default_value='camera',
|
||
|
|
description='Device namespace')
|
||
|
|
|
||
|
|
ffmpeg_encoding_arg = DeclareLaunchArgument(
|
||
|
|
'ffmpeg_encoding', default_value='libx264',
|
||
|
|
description='FFMPEG encoding')
|
||
|
|
|
||
|
|
ffmpeg_preset_arg = DeclareLaunchArgument(
|
||
|
|
'ffmpeg_preset', default_value='ultrafast',
|
||
|
|
description='FFMPEG preset')
|
||
|
|
|
||
|
|
ffmpeg_tune_arg = DeclareLaunchArgument(
|
||
|
|
'ffmpeg_tune', default_value='zerolatency',
|
||
|
|
description='FFMPEG tune')
|
||
|
|
|
||
|
|
# v4l2_camera node configuration
|
||
|
|
v4l2_camera_node = Node(
|
||
|
|
package='v4l2_camera',
|
||
|
|
executable='v4l2_camera_node',
|
||
|
|
name='camera',
|
||
|
|
namespace=LaunchConfiguration('device_namespace'),
|
||
|
|
parameters=[
|
||
|
|
{
|
||
|
|
'video_device': LaunchConfiguration('video_device'),
|
||
|
|
'pixel_format': LaunchConfiguration('pixel_format'),
|
||
|
|
'output_encoding': LaunchConfiguration('output_encoding'),
|
||
|
|
'image_size': LaunchConfiguration('image_size'),
|
||
|
|
'camera_frame_id': LaunchConfiguration('camera_frame_id'),
|
||
|
|
'camera_name': LaunchConfiguration('device_namespace'),
|
||
|
|
'camera_link_frame_id': [LaunchConfiguration('device_namespace'), TextSubstitution(text='_link')],
|
||
|
|
'ffmpeg_image_transport.encoding': LaunchConfiguration('ffmpeg_encoding'),
|
||
|
|
'ffmpeg_image_transport.preset': LaunchConfiguration('ffmpeg_preset'),
|
||
|
|
'ffmpeg_image_transport.tune': LaunchConfiguration('ffmpeg_tune'),
|
||
|
|
},
|
||
|
|
LaunchConfiguration('params_file')
|
||
|
|
],
|
||
|
|
# Add any necessary remappings here
|
||
|
|
)
|
||
|
|
|
||
|
|
# Assemble the launch description
|
||
|
|
return LaunchDescription([
|
||
|
|
video_device_arg,
|
||
|
|
pixel_format_arg,
|
||
|
|
output_encoding_arg,
|
||
|
|
image_size_arg,
|
||
|
|
camera_frame_id_arg,
|
||
|
|
params_file_arg,
|
||
|
|
device_namespace_arg,
|
||
|
|
ffmpeg_encoding_arg,
|
||
|
|
ffmpeg_preset_arg,
|
||
|
|
ffmpeg_tune_arg,
|
||
|
|
v4l2_camera_node
|
||
|
|
])
|
||
|
|
|