83 lines
3.0 KiB
Python
83 lines
3.0 KiB
Python
"""Launch camera drivers only (no rectification or stereo processing)."""
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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 ComposableNodeContainer, Node
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from launch_ros.descriptions import ComposableNode
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LEFT_CAMERA_NAME = 'left'
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RIGHT_CAMERA_NAME = 'right'
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def generate_launch_description():
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pkg_share = get_package_share_directory('tracking_re_id')
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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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left_cal = 'file://' + os.path.join(pkg_share, 'calibration', 'left.yaml')
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right_cal = 'file://' + os.path.join(pkg_share, 'calibration', 'right.yaml')
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# ── Camera Drivers (component_container_mt) ─────────────────────────
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#
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# Both cameras share a single process because the FLIR Spinnaker SDK
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# requires USB3 cameras to negotiate bandwidth within one process.
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#
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# Topics published (per camera):
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# /stereo/{left,right}/image_raw (sensor_msgs/Image)
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# /stereo/{left,right}/camera_info (sensor_msgs/CameraInfo)
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camera_container = ComposableNodeContainer(
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name='camera_container',
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namespace='',
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package='rclcpp_components',
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executable='component_container_mt',
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composable_node_descriptions=[
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ComposableNode(
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package='spinnaker_camera_driver',
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plugin='spinnaker_camera_driver::CameraDriver',
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name=LEFT_CAMERA_NAME,
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namespace='stereo',
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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': left_cal,
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}],
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extra_arguments=[{'use_intra_process_comms': True}],
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),
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ComposableNode(
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package='spinnaker_camera_driver',
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plugin='spinnaker_camera_driver::CameraDriver',
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name=RIGHT_CAMERA_NAME,
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namespace='stereo',
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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': right_cal,
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}],
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extra_arguments=[{'use_intra_process_comms': True}],
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),
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],
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output='screen',
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)
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# ── Static TF: world -> left ─────────────────────────────────────────
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tf_publisher = Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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arguments=[
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'--x', '0', '--y', '0', '--z', '0',
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'--yaw', '0', '--pitch', '0', '--roll', '0',
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'--frame-id', 'world',
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'--child-frame-id', 'left',
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],
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)
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return LaunchDescription([
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camera_container,
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tf_publisher,
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])
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