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publish tfs and set matching frame names #135

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merged 1 commit into from
Nov 13, 2023
Merged

publish tfs and set matching frame names #135

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28 changes: 25 additions & 3 deletions openni2_camera/launch/camera_only.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,20 @@
import launch
import launch_ros.actions
import launch_ros.descriptions
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource


def generate_launch_description():

namespace = '/camera'
namespace_param_name = "namespace"
namespace = LaunchConfiguration(namespace_param_name)
namespace_launch_arg = DeclareLaunchArgument(namespace_param_name, default_value='camera')

tf_prefix_param_name = "tf_prefix"
tf_prefix = LaunchConfiguration(tf_prefix_param_name)
tf_prefix_launch_arg = DeclareLaunchArgument(tf_prefix_param_name, default_value='')

container = launch_ros.actions.ComposableNodeContainer(
name='container',
Expand All @@ -53,11 +62,24 @@ def generate_launch_description():
plugin='openni2_wrapper::OpenNI2Driver',
name='driver',
parameters=[{'depth_registration': True},
{'use_device_time': True}],
{'use_device_time': True},
{'rgb_frame_id': [namespace,"_rgb_optical_frame"]},
{'depth_frame_id': [namespace,"_depth_optical_frame"]},
{'ir_frame_id': [namespace,"_ir_optical_frame"]},],
namespace=namespace,
),
],
output='screen',
)

return launch.LaunchDescription([container])
tfs = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([ThisLaunchFileDir(), "tfs.launch.py"])),
launch_arguments={namespace_param_name: namespace, tf_prefix_param_name: tf_prefix}.items(),
)

return launch.LaunchDescription([
namespace_launch_arg,
tf_prefix_launch_arg,
container,
tfs,
])
28 changes: 25 additions & 3 deletions openni2_camera/launch/camera_with_cloud.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,20 @@
import launch
import launch_ros.actions
import launch_ros.descriptions
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource


def generate_launch_description():

namespace = '/camera'
namespace_param_name = "namespace"
namespace = LaunchConfiguration(namespace_param_name)
namespace_launch_arg = DeclareLaunchArgument(namespace_param_name, default_value='camera')

tf_prefix_param_name = "tf_prefix"
tf_prefix = LaunchConfiguration(tf_prefix_param_name)
tf_prefix_launch_arg = DeclareLaunchArgument(tf_prefix_param_name, default_value='')

container = launch_ros.actions.ComposableNodeContainer(
name='container',
Expand All @@ -54,7 +63,10 @@ def generate_launch_description():
name='driver',
namespace=namespace,
parameters=[{'depth_registration': True},
{'use_device_time': True}],
{'use_device_time': True},
{'rgb_frame_id': [namespace,"_rgb_optical_frame"]},
{'depth_frame_id': [namespace,"_depth_optical_frame"]},
{'ir_frame_id': [namespace,"_ir_optical_frame"]},],
remappings=[('depth/image', 'depth_registered/image_raw')],
),
# Create XYZRGB point cloud
Expand All @@ -73,4 +85,14 @@ def generate_launch_description():
output='screen',
)

return launch.LaunchDescription([container])
tfs = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([ThisLaunchFileDir(), "tfs.launch.py"])),
launch_arguments={namespace_param_name: namespace, tf_prefix_param_name: tf_prefix}.items(),
)

return launch.LaunchDescription([
namespace_launch_arg,
tf_prefix_launch_arg,
container,
tfs,
])
28 changes: 25 additions & 3 deletions openni2_camera/launch/camera_with_cloud_norgb.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,20 @@
import launch
import launch_ros.actions
import launch_ros.descriptions
from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir, PathJoinSubstitution
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource


def generate_launch_description():

namespace = '/camera'
namespace_param_name = "namespace"
namespace = LaunchConfiguration(namespace_param_name)
namespace_launch_arg = DeclareLaunchArgument(namespace_param_name, default_value='camera')

tf_prefix_param_name = "tf_prefix"
tf_prefix = LaunchConfiguration(tf_prefix_param_name)
tf_prefix_launch_arg = DeclareLaunchArgument(tf_prefix_param_name, default_value='')

container = launch_ros.actions.ComposableNodeContainer(
name='container',
Expand All @@ -54,7 +63,10 @@ def generate_launch_description():
name='driver',
namespace=namespace,
parameters=[{'depth_registration': False},
{'use_device_time': True}],
{'use_device_time': True},
{'rgb_frame_id': [namespace,"_rgb_optical_frame"]},
{'depth_frame_id': [namespace,"_depth_optical_frame"]},
{'ir_frame_id': [namespace,"_ir_optical_frame"]},],
remappings=[('depth/image', 'depth_registered/image_raw')],
),
# Create XYZ point cloud
Expand All @@ -72,4 +84,14 @@ def generate_launch_description():
output='screen',
)

return launch.LaunchDescription([container])
tfs = IncludeLaunchDescription(
PythonLaunchDescriptionSource(PathJoinSubstitution([ThisLaunchFileDir(), "tfs.launch.py"])),
launch_arguments={namespace_param_name: namespace, tf_prefix_param_name: tf_prefix}.items(),
)

return launch.LaunchDescription([
namespace_launch_arg,
tf_prefix_launch_arg,
container,
tfs,
])
34 changes: 34 additions & 0 deletions openni2_camera/launch/tfs.launch.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,34 @@
import launch
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():

namespace_param_name = "namespace"
namespace = LaunchConfiguration(namespace_param_name)
namespace_launch_arg = DeclareLaunchArgument(namespace_param_name)

tf_prefix_param_name = "tf_prefix"
tf_prefix = LaunchConfiguration(tf_prefix_param_name)
tf_prefix_launch_arg = DeclareLaunchArgument(tf_prefix_param_name)

tf_args = [
["--frame-id", [tf_prefix,"/",namespace,"_link"],
"--child-frame-id", [tf_prefix,"/",namespace,"_depth_frame"],
"--y", "-0.02"],
["--frame-id", [tf_prefix,"/",namespace,"_link"],
"--child-frame-id", [tf_prefix,"/",namespace,"_rgb_frame"],
"--y", "-0.045"],
["--frame-id", [tf_prefix,"/",namespace,"_depth_frame"],
"--child-frame-id", [tf_prefix,"/",namespace,"_depth_optical_frame"],
"--roll", "-1.5707963267948966", "--yaw", "-1.5707963267948966"],
["--frame-id", [tf_prefix,"/",namespace,"_rgb_frame"],
"--child-frame-id", [tf_prefix,"/",namespace,"_rgb_optical_frame"],
"--roll", "-1.5707963267948966", "--yaw", "-1.5707963267948966"],
]

tf_nodes = [Node(package='tf2_ros', executable='static_transform_publisher', output='screen', arguments=args) for args in tf_args]

return launch.LaunchDescription([namespace_launch_arg, tf_prefix_launch_arg] + tf_nodes)
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