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