base gesture

2026-07-08 21:00:07 +03:00
parent c18df27d7a
commit b6c467ed52
3 changed files with 85 additions and 1 deletions
@@ -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
+        ]
+    )