launchfile and new keypoint fusion method

start_cameras_only.launch.py

@@ -0,0 +1,77 @@
+"""Launch camera drivers only (no rectification or stereo processing)."""
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer, Node
+from launch_ros.descriptions import ComposableNode
+
+LEFT_CAMERA_NAME = 'left'
+RIGHT_CAMERA_NAME = 'right'
+
+
+def generate_launch_description():
+    config_path = os.path.join(
+        get_package_share_directory('spinnaker_camera_driver'),
+        'config',
+        'blackfly_s.yaml'
+    )
+
+    # ── Camera Drivers (component_container_mt) ─────────────────────────
+    #
+    # Both cameras share a single process because the FLIR Spinnaker SDK
+    # requires USB3 cameras to negotiate bandwidth within one process.
+    #
+    # Topics published (per camera):
+    #   /stereo/{left,right}/image_raw    (sensor_msgs/Image)
+    #   /stereo/{left,right}/camera_info  (sensor_msgs/CameraInfo)
+    camera_container = ComposableNodeContainer(
+        name='camera_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container_mt',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='spinnaker_camera_driver',
+                plugin='spinnaker_camera_driver::CameraDriver',
+                name=LEFT_CAMERA_NAME,
+                namespace='stereo',
+                parameters=[{
+                    'parameter_file': config_path,
+                    'serial_number': '25282106',
+                    'camera_info_url': 'file:///home/sentry/camera_ws/stereoCal/left.yaml',
+                }],
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
+            ComposableNode(
+                package='spinnaker_camera_driver',
+                plugin='spinnaker_camera_driver::CameraDriver',
+                name=RIGHT_CAMERA_NAME,
+                namespace='stereo',
+                parameters=[{
+                    'parameter_file': config_path,
+                    'serial_number': '25235293',
+                    'camera_info_url': 'file:///home/sentry/camera_ws/stereoCal/right.yaml',
+                }],
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
+        ],
+        output='screen',
+    )
+
+    # ── Static TF: world -> left ─────────────────────────────────────────
+    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', 'left',
+        ],
+    )
+
+    return LaunchDescription([
+        camera_container,
+        tf_publisher,
+    ])