diff --git a/docs/superpowers/specs/2026-07-23-unified-usb-camera-launch-design.md b/docs/superpowers/specs/2026-07-23-unified-usb-camera-launch-design.md
index d9c3441..4a958d2 100644
--- a/docs/superpowers/specs/2026-07-23-unified-usb-camera-launch-design.md
+++ b/docs/superpowers/specs/2026-07-23-unified-usb-camera-launch-design.md
@@ -18,11 +18,12 @@ Add `config/usb_camera.yaml` as the single source of runtime camera parameters:
- `io_method`: `mmap`
- `zero_copy`: `false`
- `frame_id`: `default_usb_cam`
-- `camera_calibration_file_path`: the existing
- `config/usb_camera_calibration.yaml`
The calibration data remains in `usb_camera_calibration.yaml`; it is not mixed
-with ROS runtime parameters.
+with ROS runtime parameters. The shared base launch resolves its installed path
+and applies it to the camera node after loading the runtime YAML. Both launch
+variants therefore receive the same calibration path without a source-tree
+absolute path.
## Launch Structure
@@ -31,7 +32,9 @@ with ROS runtime parameters.
1. Declare one `camera_config` launch argument whose default is the installed
`config/usb_camera.yaml` path.
2. Start the shared-memory environment once.
-3. Start one `hobot_usb_cam` node with the YAML file as its parameter source.
+3. Resolve the installed `usb_camera_calibration.yaml` path.
+4. Start one `hobot_usb_cam` node with the YAML file as its parameter source and
+ the resolved calibration resource path.
`hobot_usb_cam_websocket.launch.py` will:
diff --git a/src/car_usb_cam/CMakeLists.txt b/src/car_usb_cam/CMakeLists.txt
new file mode 100644
index 0000000..d3b1aea
--- /dev/null
+++ b/src/car_usb_cam/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.8)
+project(car_usb_cam)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+ DIRECTORY config launch
+ DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+ find_package(ament_cmake_pytest REQUIRED)
+ ament_add_pytest_test(
+ test_unified_launch_config
+ test/test_unified_launch_config.py
+ )
+endif()
+
+ament_package()
diff --git a/src/car_usb_cam/config/usb_camera.yaml b/src/car_usb_cam/config/usb_camera.yaml
new file mode 100644
index 0000000..d6d6b49
--- /dev/null
+++ b/src/car_usb_cam/config/usb_camera.yaml
@@ -0,0 +1,10 @@
+hobot_usb_cam:
+ ros__parameters:
+ frame_id: default_usb_cam
+ framerate: 30
+ image_height: 720
+ image_width: 1280
+ io_method: mmap
+ pixel_format: mjpeg
+ video_device: /dev/video0
+ zero_copy: false
diff --git a/src/car_usb_cam/launch/hobot_usb_cam.launch.py b/src/car_usb_cam/launch/hobot_usb_cam.launch.py
index b01b7a7..2588b88 100644
--- a/src/car_usb_cam/launch/hobot_usb_cam.launch.py
+++ b/src/car_usb_cam/launch/hobot_usb_cam.launch.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024，D-Robotics.
+# Copyright (c) 2024, D-Robotics.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@@ -12,82 +12,46 @@
# See the License for the specific language governing permissions and
# limitations under the License.
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, TextSubstitution
-from launch_ros.actions import Node
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from ament_index_python import get_package_share_directory
-from ament_index_python.packages import get_package_prefix
import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
def generate_launch_description():
- config_file_path = os.path.join(
- get_package_prefix('hobot_usb_cam'),
- "/home/sunrise/yiliao_ws/src/car_usb_cam/config/usb_camera_calibration.yaml")
- print("config_file_path is ", config_file_path)
+ package_share = get_package_share_directory("car_usb_cam")
+ camera_config = os.path.join(package_share, "config", "usb_camera.yaml")
+ calibration_file = os.path.join(
+ package_share, "config", "usb_camera_calibration.yaml"
+ )
return LaunchDescription([
DeclareLaunchArgument(
- 'usb_camera_calibration_file_path',
- default_value=TextSubstitution(text=str(config_file_path)),
- description='camera calibration file path'),
- DeclareLaunchArgument(
- 'usb_frame_id',
- default_value='default_usb_cam',
- description='image message frame_id'),
- DeclareLaunchArgument(
- 'usb_framerate',
- default_value='30',
- description='framerate'),
- DeclareLaunchArgument(
- 'usb_image_height',
- default_value='450',
- description='image height'),
- DeclareLaunchArgument(
- 'usb_image_width',
- default_value='800',
- description='image width'),
- DeclareLaunchArgument(
- 'usb_io_method',
- default_value='mmap',
- description='io_method, mmap/read/userptr'),
- DeclareLaunchArgument(
- 'usb_pixel_format',
- default_value='yuyv2rgb',
- description='pixel format, mjpeg/yuyv2rgb'),
- DeclareLaunchArgument(
- 'usb_video_device',
- default_value='/dev/video0',
- description='usb camera device'),
- DeclareLaunchArgument(
- 'usb_zero_copy',
- default_value='False',
- description='use zero copy or not'),
- # 启动零拷贝环境配置node
+ "camera_config",
+ default_value=camera_config,
+ description="ROS parameter file for the USB camera",
+ ),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
- get_package_share_directory('hobot_shm'),
- 'launch/hobot_shm.launch.py'))
+ get_package_share_directory("hobot_shm"),
+ "launch",
+ "hobot_shm.launch.py",
+ )
+ )
),
Node(
- package='hobot_usb_cam',
- executable='hobot_usb_cam',
- name='hobot_usb_cam',
+ package="hobot_usb_cam",
+ executable="hobot_usb_cam",
+ name="hobot_usb_cam",
parameters=[
- {"camera_calibration_file_path": LaunchConfiguration(
- 'usb_camera_calibration_file_path')},
- {"frame_id": LaunchConfiguration('usb_frame_id')},
- {"framerate": LaunchConfiguration('usb_framerate')},
- {"image_height": LaunchConfiguration('usb_image_height')},
- {"image_width": LaunchConfiguration('usb_image_width')},
- {"io_method": LaunchConfiguration('usb_io_method')},
- {"pixel_format": LaunchConfiguration('usb_pixel_format')},
- {"video_device": LaunchConfiguration('usb_video_device')},
- {"zero_copy": LaunchConfiguration('usb_zero_copy')}
+ LaunchConfiguration("camera_config"),
+ {"camera_calibration_file_path": calibration_file},
],
- arguments=['--ros-args', '--log-level', 'warn']
- )
+ arguments=["--ros-args", "--log-level", "warn"],
+ ),
])
diff --git a/src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py b/src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py
index eb9c3f9..8f76bd2 100644
--- a/src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py
+++ b/src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2024，D-Robotics.
+# Copyright (c) 2024, D-Robotics.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@@ -13,82 +13,38 @@
# limitations under the License.
import os
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
-from ament_index_python import get_package_share_directory
def generate_launch_description():
- camera_node = None
-
- print("using usb camera")
- # using usb cam publish image
- usb_cam_device_arg = DeclareLaunchArgument(
- 'device',
- default_value='/dev/video0',
- description='usb camera device')
-
- usb_node = IncludeLaunchDescription(
+ camera_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
- get_package_share_directory('car_usb_cam'),
- 'launch/hobot_usb_cam.launch.py')),
- launch_arguments={
- 'usb_image_width': '800',
- 'usb_image_height': '450',
- 'usb_framerate': '30',
- 'usb_pixel_format': 'yuyv2rgb',# yuyv2rgb
- 'usb_zero_copy': 'False',
- 'usb_video_device': LaunchConfiguration('device')
- }.items()
+ get_package_share_directory("car_usb_cam"),
+ "launch",
+ "hobot_usb_cam.launch.py",
+ )
+ )
)
- # nv12->jpeg
- jpeg_codec_node = IncludeLaunchDescription(
+ websocket_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
- get_package_share_directory('hobot_codec'),
- 'launch/hobot_codec_encode.launch.py')),
- launch_arguments={
- #'codec_in_mode': 'shared_mem',
- 'codec_in_mode': 'ros',
- 'codec_in_format': 'rgb8',#rgb8
- 'codec_out_mode': 'ros', #
- #'codec_sub_topic': '/hbmem_img',
- 'codec_sub_topic': '/image',
- 'codec_pub_topic': '/image_mjpeg' # 原image_mjpeg
- }.items()
- )
- # web
- web_node = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(
- os.path.join(
- get_package_share_directory('websocket'),
- 'launch/websocket.launch.py')),
- launch_arguments={
- 'websocket_image_topic': '/image_mjpeg',
- 'websocket_only_show_image': 'True'
- }.items()
- )
-
-
- return LaunchDescription([
- # 启动零拷贝环境配置node
- IncludeLaunchDescription(
- PythonLaunchDescriptionSource(
- os.path.join(
- get_package_share_directory('hobot_shm'),
- 'launch/hobot_shm.launch.py'))
+ get_package_share_directory("websocket"),
+ "launch",
+ "websocket.launch.py",
+ )
),
- usb_cam_device_arg,
- usb_node,
- # image codec
- jpeg_codec_node,
- # web display
- # web_node
- ])
+ launch_arguments={
+ "websocket_image_topic": "/image",
+ "websocket_image_type": "mjpeg",
+ "websocket_only_show_image": "True",
+ "websocket_output_fps": "30",
+ }.items(),
+ )
+
+ return LaunchDescription([camera_launch, websocket_launch])
diff --git a/src/car_usb_cam/package.xml b/src/car_usb_cam/package.xml
index 98e2b7d..976fc14 100644
--- a/src/car_usb_cam/package.xml
+++ b/src/car_usb_cam/package.xml
@@ -18,10 +18,18 @@
yaml_cpp_vendor
ffmpeg
+ ament_index_python
+ launch
+ launch_ros
+ hobot_usb_cam
+ hobot_shm
+ websocket
rosidl_interface_packages
ament_lint_auto
ament_lint_common
+ ament_cmake_pytest
+ python3-yaml
ament_cmake
diff --git a/src/car_usb_cam/test/test_unified_launch_config.py b/src/car_usb_cam/test/test_unified_launch_config.py
new file mode 100644
index 0000000..998311a
--- /dev/null
+++ b/src/car_usb_cam/test/test_unified_launch_config.py
@@ -0,0 +1,131 @@
+import ast
+import pathlib
+import unittest
+import xml.etree.ElementTree as ET
+
+import yaml
+
+
+PACKAGE_ROOT = pathlib.Path(__file__).resolve().parents[1]
+BASE_LAUNCH = PACKAGE_ROOT / "launch" / "hobot_usb_cam.launch.py"
+WEB_LAUNCH = PACKAGE_ROOT / "launch" / "hobot_usb_cam_websocket.launch.py"
+CAMERA_CONFIG = PACKAGE_ROOT / "config" / "usb_camera.yaml"
+PACKAGE_XML = PACKAGE_ROOT / "package.xml"
+
+
+def string_constants(path):
+ tree = ast.parse(path.read_text(encoding="utf-8"))
+ return {
+ node.value
+ for node in ast.walk(tree)
+ if isinstance(node, ast.Constant) and isinstance(node.value, str)
+ }
+
+
+def call_names(path):
+ tree = ast.parse(path.read_text(encoding="utf-8"))
+ names = []
+ for node in ast.walk(tree):
+ if not isinstance(node, ast.Call):
+ continue
+ if isinstance(node.func, ast.Name):
+ names.append(node.func.id)
+ elif isinstance(node.func, ast.Attribute):
+ names.append(node.func.attr)
+ return names
+
+
+def calls_named(path, name):
+ tree = ast.parse(path.read_text(encoding="utf-8"))
+ calls = []
+ for node in ast.walk(tree):
+ if not isinstance(node, ast.Call):
+ continue
+ function_name = None
+ if isinstance(node.func, ast.Name):
+ function_name = node.func.id
+ elif isinstance(node.func, ast.Attribute):
+ function_name = node.func.attr
+ if function_name == name:
+ calls.append(node)
+ return calls
+
+
+def assigned_call(path, variable_name):
+ tree = ast.parse(path.read_text(encoding="utf-8"))
+ for node in ast.walk(tree):
+ if not isinstance(node, ast.Assign) or not isinstance(node.value, ast.Call):
+ continue
+ if any(
+ isinstance(target, ast.Name) and target.id == variable_name
+ for target in node.targets
+ ):
+ return node.value
+ raise AssertionError(f"No call assigned to {variable_name}")
+
+
+class UnifiedLaunchConfigTest(unittest.TestCase):
+ def test_yaml_defines_final_native_mjpeg_configuration(self):
+ document = yaml.safe_load(CAMERA_CONFIG.read_text(encoding="utf-8"))
+ params = document["hobot_usb_cam"]["ros__parameters"]
+ self.assertEqual(params["video_device"], "/dev/video0")
+ self.assertEqual(params["image_width"], 1280)
+ self.assertEqual(params["image_height"], 720)
+ self.assertEqual(params["framerate"], 30)
+ self.assertEqual(params["pixel_format"], "mjpeg")
+ self.assertEqual(params["io_method"], "mmap")
+ self.assertFalse(params["zero_copy"])
+ self.assertNotIn("camera_calibration_file_path", params)
+
+ def test_base_launch_owns_the_only_camera_node(self):
+ constants = string_constants(BASE_LAUNCH)
+ self.assertIn("usb_camera.yaml", constants)
+ self.assertIn("usb_camera_calibration.yaml", constants)
+ self.assertIn("hobot_usb_cam", constants)
+ node_calls = calls_named(BASE_LAUNCH, "Node")
+ self.assertEqual(len(node_calls), 1)
+ parameters = next(
+ keyword.value
+ for keyword in node_calls[0].keywords
+ if keyword.arg == "parameters"
+ )
+ parameters_tree = ast.dump(parameters)
+ self.assertIn("camera_config", parameters_tree)
+ self.assertIn("camera_calibration_file_path", parameters_tree)
+
+ def test_web_launch_only_adds_websocket(self):
+ constants = string_constants(WEB_LAUNCH)
+ self.assertIn("hobot_usb_cam.launch.py", constants)
+ self.assertIn("websocket.launch.py", constants)
+ self.assertEqual(call_names(WEB_LAUNCH).count("Node"), 0)
+ self.assertEqual(len(calls_named(WEB_LAUNCH, "IncludeLaunchDescription")), 2)
+ camera_include = assigned_call(WEB_LAUNCH, "camera_launch")
+ self.assertNotIn("launch_arguments", {item.arg for item in camera_include.keywords})
+ for forbidden in (
+ "hobot_codec",
+ "/image_mjpeg",
+ "yuyv2rgb",
+ "usb_image_width",
+ "usb_image_height",
+ "usb_pixel_format",
+ ):
+ self.assertNotIn(forbidden, constants)
+
+ def test_manifest_declares_launch_and_test_dependencies(self):
+ root = ET.parse(PACKAGE_XML).getroot()
+ runtime_dependencies = {item.text for item in root.findall("exec_depend")}
+ self.assertTrue({
+ "ament_index_python",
+ "launch",
+ "launch_ros",
+ "hobot_usb_cam",
+ "hobot_shm",
+ "websocket",
+ }.issubset(runtime_dependencies))
+ test_dependencies = {item.text for item in root.findall("test_depend")}
+ self.assertIn("ament_cmake_pytest", test_dependencies)
+ self.assertIn("python3-yaml", test_dependencies)
+
+
+if __name__ == "__main__":
+ unittest.main()