From 3e98fc1b8bd948d9427428bbf8e6d4648f5d68cf Mon Sep 17 00:00:00 2001
From: cyy_mac <cyy@mac.com>
Date: Thu, 26 Mar 2026 05:55:19 +0800
Subject: [PATCH] new camera calibraction add camera launch

---
 .../launch/calibration_launch.py              | 22 ++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/src/camera_calibration/launch/calibration_launch.py b/src/camera_calibration/launch/calibration_launch.py
index c9130c1..6868c46 100644
--- a/src/camera_calibration/launch/calibration_launch.py
+++ b/src/camera_calibration/launch/calibration_launch.py
@@ -14,6 +14,14 @@ def generate_launch_description():
         'calibration_params.yaml'
     )
 
+    # HikCamera config
+    hik_params_file = os.path.join(
+        get_package_share_directory('hik_camera'),
+        'config',
+        'camera_params.yaml'
+    )
+    hik_camera_info_url = 'package://hik_camera/config/camera_info.yaml'
+
     # Declare launch arguments
     declared_arguments = [
         DeclareLaunchArgument('image_topic', default_value='image_raw'),
@@ -25,7 +33,18 @@ def generate_launch_description():
         DeclareLaunchArgument('min_samples_per_cell', default_value='1'),
     ]
 
-    # Create node
+    # HikCamera node
+    hik_camera_node = Node(
+        package='hik_camera',
+        executable='hik_camera_node',
+        output='screen',
+        emulate_tty=True,
+        parameters=[hik_params_file, {
+            'camera_info_url': hik_camera_info_url,
+        }],
+    )
+
+    # Create calibration node
     camera_calibration_node = Node(
         package='camera_calibration',
         executable='camera_calibration_node',
@@ -39,5 +58,6 @@ def generate_launch_description():
 
     return LaunchDescription([
         *declared_arguments,
+        hik_camera_node,
         camera_calibration_node,
     ])