From b6c467ed52d103bb9b7d596f5e9b217cfb33a7da Mon Sep 17 00:00:00 2001
From: robofob <todo@robofob.ru>
Date: Wed, 8 Jul 2026 21:00:07 +0300
Subject: [PATCH] base gesture

---
 launch/base_gesture_control.launch.py         | 66 +++++++++++++++++++
 setup.py                                      |  3 +-
 .../base_gesture_control_node.py              | 17 +++++
 3 files changed, 85 insertions(+), 1 deletion(-)
 create mode 100644 launch/base_gesture_control.launch.py
 create mode 100644 wave_rover_controller/base_gesture_control_node.py

diff --git a/launch/base_gesture_control.launch.py b/launch/base_gesture_control.launch.py
new file mode 100644
index 0000000..19b9b39
--- /dev/null
+++ b/launch/base_gesture_control.launch.py
@@ -0,0 +1,66 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import (
+    PathJoinSubstitution,
+    LaunchConfiguration,
+    TextSubstitution,
+)
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
+
+def generate_launch_description():
+    pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
+
+
+    # Launch arguments
+    launch_args = [
+        DeclareLaunchArgument(
+            "use_sim_time",
+            description="Use clock from simulation",
+            default_value="True",
+        ),
+        DeclareLaunchArgument(
+            "namespace", default_value="sirius_bot", description="Top-level namespace"
+        ),
+    ]
+
+    base_gesture_control_node = Node(
+        package="wave_rover_controller",
+        executable="base_gesture_control_node",
+        name="base_gesture_control",
+        namespace=LaunchConfiguration("namespace"),
+            output="both",
+            parameters=[
+                {"fire_ext_max_capacity": 5},
+            ],
+            remappings=[
+                ('image', '/camera_node/image_raw')
+            ]
+    )
+
+    camera_node = Node(
+        package='camera_ros',
+        executable='camera_node',
+        name='camera_node',
+        #namespace='camera',
+        output='screen',
+        parameters=[{
+            # Camera selection index (0 for the first detected libcamera device)
+            'camera': 0,
+            # Image streams configuration
+            'width': 640,
+            'height': 480,
+            'frame_rate': 10.0,
+            # Available options depend on your camera (e.g., 'sensor', 'video', 'still')
+            'role': 'video',
+            }]
+        )
+
+    return LaunchDescription(
+        launch_args
+        + [
+            base_gesture_control_node,
+            camera_node
+        ]
+    )
diff --git a/setup.py b/setup.py
index eef754e..f2655a8 100644
--- a/setup.py
+++ b/setup.py
@@ -30,7 +30,8 @@ setup(
     entry_points={
         'console_scripts': [
             'joy_control_node = wave_rover_controller.joy_control_node:main',
-            'wave_rover_node = wave_rover_controller.wave_rover_node:main'
+            'wave_rover_node = wave_rover_controller.wave_rover_node:main',
+            'base_gesture_control_node = wave_rover_controller.base_gesture_control_node:main'
         ],
     },
 )
diff --git a/wave_rover_controller/base_gesture_control_node.py b/wave_rover_controller/base_gesture_control_node.py
new file mode 100644
index 0000000..92c0837
--- /dev/null
+++ b/wave_rover_controller/base_gesture_control_node.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+
+import rclpy
+from wave_rover_controller.wave_rover_controller2 import WaveRoverController
+from unity_robot_controller.base_gesture_control_node import BaseGestureControlNode
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = BaseGestureControlNode(WaveRoverController)
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()