stereo_image_proc.launch.py

# Copyright (c) 2019, Open Source Robotics Foundation, Inc.
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import GroupAction
from launch.actions import IncludeLaunchDescription
from launch.actions import SetLaunchConfiguration
from launch.conditions import IfCondition
from launch.conditions import LaunchConfigurationEquals
from launch.conditions import LaunchConfigurationNotEquals
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.actions import PushRosNamespace
from launch_ros.descriptions import ComposableNode
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    composable_nodes = [
        ComposableNode(
            package='stereo_image_proc',
            plugin='stereo_image_proc::DisparityNode',
            parameters=[{
                'approximate_sync': LaunchConfiguration('approximate_sync'),
                'use_system_default_qos': LaunchConfiguration('use_system_default_qos'),
            }],
            remappings=[
                ('left/image_rect', [LaunchConfiguration('left_namespace'), '/image_rect']),
                ('left/camera_info', [LaunchConfiguration('left_namespace'), '/camera_info']),
                ('right/image_rect', [LaunchConfiguration('right_namespace'), '/image_rect']),
                ('right/camera_info', [LaunchConfiguration('right_namespace'), '/camera_info']),
            ]
        ),
        ComposableNode(
            package='stereo_image_proc',
            plugin='stereo_image_proc::PointCloudNode',
            parameters=[{
                'approximate_sync': LaunchConfiguration('approximate_sync'),
                'avoid_point_cloud_padding': LaunchConfiguration('avoid_point_cloud_padding'),
                'use_system_default_qos': LaunchConfiguration('use_system_default_qos'),
            }],
            remappings=[
                ('left/camera_info', [LaunchConfiguration('left_namespace'), '/camera_info']),
                ('right/camera_info', [LaunchConfiguration('right_namespace'), '/camera_info']),
                (
                    'left/image_rect_color',
                    [LaunchConfiguration('left_namespace'), '/image_rect_color']
                ),
            ]
        ),
    ]

    return LaunchDescription([
        DeclareLaunchArgument(
            name='approximate_sync', default_value='False',
            description='Whether to use approximate synchronization of topics. Set to true if '
                        'the left and right cameras do not produce exactly synced timestamps.'
        ),
        DeclareLaunchArgument(
            name='avoid_point_cloud_padding', default_value='False',
            description='Avoid alignment padding in the generated point cloud.'
                        'This reduces bandwidth requirements, as the point cloud size is halved.'
                        'Using point clouds without alignment padding might degrade performance '
                        'for some algorithms.'
        ),
        DeclareLaunchArgument(
            name='use_system_default_qos', default_value='False',
            description='Use the RMW QoS settings for the image and camera info subscriptions.'
        ),
        DeclareLaunchArgument(
            name='launch_image_proc', default_value='True',
            description='Whether to launch debayer and rectify nodes from image_proc.'
        ),
        DeclareLaunchArgument(
            name='left_namespace', default_value='left',
            description='Namespace for the left camera'
        ),
        DeclareLaunchArgument(
            name='right_namespace', default_value='right',
            description='Namespace for the right camera'
        ),
        DeclareLaunchArgument(
            name='container', default_value='',
            description=(
                'Name of an existing node container to load launched nodes into. '
                'If unset, a new container will be created.'
            )
        ),
        ComposableNodeContainer(
            condition=LaunchConfigurationEquals('container', ''),
            package='rclcpp_components',
            executable='component_container',
            name='stereo_image_proc_container',
            namespace='',
            composable_node_descriptions=composable_nodes,
        ),
        LoadComposableNodes(
            condition=LaunchConfigurationNotEquals('container', ''),
            composable_node_descriptions=composable_nodes,
            target_container=LaunchConfiguration('container'),
        ),
        # If a container name is not provided,
        # set the name of the container launched above for image_proc nodes
        SetLaunchConfiguration(
            condition=LaunchConfigurationEquals('container', ''),
            name='container',
            value='stereo_image_proc_container'
        ),
        GroupAction(
            [
                PushRosNamespace(LaunchConfiguration('left_namespace')),
                IncludeLaunchDescription(
                    PythonLaunchDescriptionSource([
                        FindPackageShare('image_proc'), '/launch/image_proc.launch.py'
                    ]),
                    launch_arguments={'container': LaunchConfiguration('container')}.items()
                ),
            ],
            condition=IfCondition(LaunchConfiguration('launch_image_proc')),
        ),
        GroupAction(
            [
                PushRosNamespace(LaunchConfiguration('right_namespace')),
                IncludeLaunchDescription(
                    PythonLaunchDescriptionSource([
                        FindPackageShare('image_proc'), '/launch/image_proc.launch.py'
                    ]),
                    launch_arguments={'container': LaunchConfiguration('container')}.items()
                ),
            ],
            condition=IfCondition(LaunchConfiguration('launch_image_proc')),
        )
    ])