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67 lines
1.9 KiB
Python
67 lines
1.9 KiB
Python
from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import (
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PathJoinSubstitution,
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LaunchConfiguration,
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TextSubstitution,
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)
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from launch_ros.substitutions import FindPackageShare
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from launch_ros.actions import Node
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from launch_ros.descriptions import ParameterFile
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def generate_launch_description():
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pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
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# Launch arguments
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launch_args = [
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DeclareLaunchArgument(
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"use_sim_time",
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description="Use clock from simulation",
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default_value="True",
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),
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DeclareLaunchArgument(
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"namespace", default_value="sirius_bot", description="Top-level namespace"
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),
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]
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base_gesture_control_node = Node(
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package="unity_robot_controller",
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executable="base_gesture_control_node",
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name="base_gesture_control",
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namespace=LaunchConfiguration("namespace"),
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output="both",
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parameters=[
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{"fire_ext_max_capacity": 100},
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],
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remappings=[
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('image', '/camera_node/image_raw')
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]
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)
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camera_node = Node(
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package='camera_ros',
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executable='camera_node',
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name='camera_node',
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#namespace='camera',
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output='screen',
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parameters=[{
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# Camera selection index (0 for the first detected libcamera device)
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'camera': 0,
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# Image streams configuration
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'width': 640,
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'height': 480,
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'frame_rate': 10.0,
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# Available options depend on your camera (e.g., 'sensor', 'video', 'still')
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'role': 'video',
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}]
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)
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return LaunchDescription(
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launch_args
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+ [
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base_gesture_control_node,
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camera_node
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]
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)
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