58 lines
2.0 KiB
Python
58 lines
2.0 KiB
Python
# Copyright (c) 2024, D-Robotics.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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package_share = get_package_share_directory("car_usb_cam")
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camera_config = os.path.join(package_share, "config", "usb_camera.yaml")
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calibration_file = os.path.join(
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package_share, "config", "usb_camera_calibration.yaml"
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)
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return LaunchDescription([
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DeclareLaunchArgument(
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"camera_config",
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default_value=camera_config,
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description="ROS parameter file for the USB camera",
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(
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get_package_share_directory("hobot_shm"),
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"launch",
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"hobot_shm.launch.py",
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)
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)
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),
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Node(
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package="hobot_usb_cam",
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executable="hobot_usb_cam",
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name="hobot_usb_cam",
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parameters=[
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LaunchConfiguration("camera_config"),
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{"camera_calibration_file_path": calibration_file},
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],
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arguments=["--ros-args", "--log-level", "warn"],
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),
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])
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