新增俯瞰图变换包，类似车辆环视图

src/origincar_birdseye/launch/birdseye_runtime.launch.py

@@ -0,0 +1,26 @@
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+import os
+
+
+def generate_launch_description():
+    default_config = os.path.join(
+        get_package_share_directory('origincar_birdseye'),
+        'config',
+        'birdseye_defaults.yaml')
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'birdseye_config',
+            default_value=default_config,
+            description='Birdseye node ROS parameter YAML'),
+        Node(
+            package='origincar_birdseye',
+            executable='birdseye_node',
+            name='birdseye_node',
+            output='screen',
+            parameters=[LaunchConfiguration('birdseye_config')])
+    ])

src/origincar_birdseye/launch/car_usb_birdseye.launch.py

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+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():
+    birdseye_share = get_package_share_directory('origincar_birdseye')
+    camera_share = get_package_share_directory('car_usb_cam')
+    default_birdseye_config = os.path.join(
+        birdseye_share, 'config', 'birdseye_defaults.yaml')
+    default_camera_config = os.path.join(
+        camera_share, 'config', 'usb_camera.yaml')
+    camera_launch = os.path.join(camera_share, 'launch', 'hobot_usb_cam.launch.py')
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'camera_config',
+            default_value=default_camera_config,
+            description='Path passed unchanged to car_usb_cam'),
+        DeclareLaunchArgument(
+            'birdseye_config',
+            default_value=default_birdseye_config,
+            description='Birdseye node ROS parameter YAML'),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(camera_launch),
+            launch_arguments={
+                'camera_config': LaunchConfiguration('camera_config'),
+            }.items()),
+        Node(
+            package='origincar_birdseye',
+            executable='birdseye_node',
+            name='birdseye_node',
+            output='screen',
+            parameters=[LaunchConfiguration('birdseye_config')]),
+    ])

src/origincar_birdseye/launch/offline_validation.launch.py

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+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    share = get_package_share_directory('origincar_birdseye')
+    birdseye_config = os.path.join(
+        share,
+        'config',
+        'birdseye_defaults.yaml')
+    synthetic_config = os.path.join(share, 'config', 'offline_camera.yaml')
+    birdseye_overrides = os.path.join(
+        share, 'config', 'offline_birdseye_overrides.yaml')
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'birdseye_config',
+            default_value=birdseye_config,
+            description='Birdseye node ROS parameter YAML'),
+        DeclareLaunchArgument(
+            'synthetic_config',
+            default_value=synthetic_config,
+            description='Synthetic image publisher ROS parameter YAML'),
+        Node(
+            package='origincar_birdseye',
+            executable='synthetic_camera_node',
+            name='synthetic_camera_node',
+            output='screen',
+            parameters=[LaunchConfiguration('synthetic_config')]),
+        Node(
+            package='origincar_birdseye',
+            executable='birdseye_node',
+            name='birdseye_node',
+            output='screen',
+            parameters=[
+                LaunchConfiguration('birdseye_config'),
+                birdseye_overrides]),
+    ])