adipu/AMRL_GDC_LOBBY_TRACKING
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This commit is contained in:
pulipakaa24
2026-02-10 14:17:57 -06:00
parent cc53ed9843
commit ad1663da7a
1 changed files with 22 additions and 5 deletions
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27
start_camera.launch.py
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@@ -1,7 +1,7 @@
import os import os
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription from launch import LaunchDescription
from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode from launch_ros.descriptions import ComposableNode
# From perspective of cameras # From perspective of cameras
@@ -32,8 +32,8 @@ def generate_launch_description():
executable='component_container_mt', executable='component_container_mt',
composable_node_descriptions=[ composable_node_descriptions=[
# ── Left Blackfly S (serial 25282106) ── # ── Left Blackfly S (serial 25282106) ──
# namespace='stereo/left' → publishes /stereo/left/image_raw # namespace='stereo', name='left' → node name creates sub-namespace
# /stereo/left/camera_info # publishes: /stereo/left/image_raw, /stereo/left/camera_info
ComposableNode( ComposableNode(
package='spinnaker_camera_driver', package='spinnaker_camera_driver',
plugin='spinnaker_camera_driver::CameraDriver', plugin='spinnaker_camera_driver::CameraDriver',
@@ -47,8 +47,8 @@ def generate_launch_description():
extra_arguments=[{'use_intra_process_comms': True}], extra_arguments=[{'use_intra_process_comms': True}],
), ),
# ── Right Blackfly S (serial 25235293) ── # ── Right Blackfly S (serial 25235293) ──
# namespace='stereo/right' → publishes /stereo/right/image_raw # namespace='stereo', name='right' → node name creates sub-namespace
# /stereo/right/camera_info # publishes: /stereo/right/image_raw, /stereo/right/camera_info
ComposableNode( ComposableNode(
package='spinnaker_camera_driver', package='spinnaker_camera_driver',
plugin='spinnaker_camera_driver::CameraDriver', plugin='spinnaker_camera_driver::CameraDriver',
@@ -183,8 +183,25 @@ def generate_launch_description():
output='screen', output='screen',
) )
# ── Static TF: world → camera_link ──────────────────────────────────
#
# Provides a fixed frame for RViz. Identity transform places
# camera_link at the world origin. The stereo calibration YAMLs
# handle the actual left↔right extrinsics.
tf_publisher = Node(
package='tf2_ros',
executable='static_transform_publisher',
arguments=[
'--x', '0', '--y', '0', '--z', '0',
'--yaw', '0', '--pitch', '0', '--roll', '0',
'--frame-id', 'world',
'--child-frame-id', 'camera_link',
],
)
return LaunchDescription([ return LaunchDescription([
camera_container, camera_container,
image_proc_container, image_proc_container,
stereo_proc_container, stereo_proc_container,
tf_publisher,
]) ])