61 lines
1.9 KiB
Python
61 lines
1.9 KiB
Python
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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_ros.actions import Node, ComposableNodeContainer
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#from perspective of cameras
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LEFT_CAMERA_NAME = 'left'
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RIGHT_CAMERA_NAME = 'right'
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LEFT_CAMERA_NAMESPACE = 'stereo'
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RIGHT_CAMERA_NAMESPACE = 'stereo'
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def generate_launch_description():
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config_path = os.path.join(
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get_package_share_directory('spinnaker_camera_driver'),
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'config',
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'blackfly_s.yaml'
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)
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return LaunchDescription([
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ComposableNodeContainer(
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name='vision_container',
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namespace='',
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)
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Node(
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package='spinnaker_camera_driver',
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executable='camera_driver_node',
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name=LEFT_CAMERA_NAME,
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namespace=LEFT_CAMERA_NAMESPACE,
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parameters=[{
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'parameter_file': config_path,
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'serial_number': '25282106',
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'camera_info_url': 'file:///home/sentry/camera_ws/stereoCal/left.yaml'
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}]
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),
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Node(
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package='spinnaker_camera_driver',
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executable='camera_driver_node',
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name=RIGHT_CAMERA_NAME,
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namespace=RIGHT_CAMERA_NAMESPACE,
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parameters=[{
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'parameter_file': config_path,
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'serial_number': '25235293',
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'camera_info_url': 'file:///home/sentry/camera_ws/stereoCal/right.yaml'
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}]
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),
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# Node(
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# package='stereo_image_proc',
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# executable='point_cloud_node',
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# namespace='stereo',
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# parameters=[{'approximate_sync': True}],
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# remappings=[
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# ('left/image_rect_color', 'left/image_rect'),
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# ('right/image_rect_color', 'right/image_rect')
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# ],
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# output='screen'
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# )
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])
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