72 lines
2.1 KiB
Python
72 lines
2.1 KiB
Python
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
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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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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='image_proc',
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executable='image_proc',
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namespace='stereo/left',
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remappings=[
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('image', 'image_raw')
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]
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),
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Node(
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package='image_proc',
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executable='image_proc',
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namespace='stereo/right',
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remappings=[
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('image', 'image_raw')
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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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]) |