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vladushkedvladushked
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refactor vision launch files, delete yolov5
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5 files changed

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‎src/sauvc_launch/launch/cam.launch.py‎

Lines changed: 103 additions & 44 deletions
Original file line numberDiff line numberDiff line change
@@ -1,52 +1,78 @@
1+
from pathlib import Path
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3+
from ament_index_python import get_package_share_directory
4+
from launch.launch_description_sources import PythonLaunchDescriptionSource
15
from launch import LaunchDescription
26
from launch.actions import DeclareLaunchArgument
37
from launch.substitutions import LaunchConfiguration
48
from launch_ros.actions import Node
59
from launch.conditions import IfCondition
10+
from launch.actions import IncludeLaunchDescription
611

712

813
def generate_launch_description():
9-
# Аргументы для фронтальной камеры
10-
front_camera_topic_arg = DeclareLaunchArgument(
11-
"front_camera_topic", default_value='/stingray/topics/camera/front'
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)
13-
front_camera_info_topic_arg = DeclareLaunchArgument(
14-
"front_camera_info_topic", default_value='/stingray/topics/camera/front/camera_info'
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)
16-
front_camera_path_arg = DeclareLaunchArgument(
17-
"front_camera_path", default_value='/dev/video0'
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)
19-
front_camera_calibration_path_arg = DeclareLaunchArgument(
20-
"front_camera_calibration_path", default_value="package://welt_cam/configs/front_camera.yaml"
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)
22-
# Аргументы для нижней камеры
23-
bottom_camera_topic_arg = DeclareLaunchArgument(
24-
"bottom_camera_topic", default_value='/stingray/topics/camera/bottom'
25-
)
26-
bottom_camera_info_topic_arg = DeclareLaunchArgument(
27-
"bottom_camera_info_topic", default_value='/stingray/topics/camera/bottom/camera_info'
28-
)
29-
bottom_camera_path_arg = DeclareLaunchArgument(
30-
"bottom_camera_path", default_value='/dev/video4'
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)
32-
bottom_camera_calibration_path_arg = DeclareLaunchArgument(
33-
"bottom_camera_calibration_path", default_value="package://welt_cam/configs/bottom_camera.yaml"
34-
)
35-
enable_bottom_camera_arg = DeclareLaunchArgument(
36-
"enable_bottom_camera", default_value="true",
37-
description="Включить (true) или отключить (false) ноду нижней камеры"
38-
)
39-
4014
return LaunchDescription([
41-
front_camera_topic_arg,
42-
front_camera_info_topic_arg,
43-
front_camera_path_arg,
44-
front_camera_calibration_path_arg,
45-
bottom_camera_topic_arg,
46-
bottom_camera_info_topic_arg,
47-
bottom_camera_path_arg,
48-
bottom_camera_calibration_path_arg,
49-
enable_bottom_camera_arg,
15+
DeclareLaunchArgument("enable_front_camera",
16+
default_value="true",
17+
description="Включить (true) или отключить (false) ноду нижней камеры"),
18+
DeclareLaunchArgument('front_camera_topic',
19+
default_value='/stingray/topics/camera/front',
20+
description='Топик с изображениями для первой камеры'),
21+
DeclareLaunchArgument("front_camera_info_topic",
22+
default_value='/stingray/topics/camera/front/camera_info'),
23+
DeclareLaunchArgument("front_camera_path",
24+
default_value='/dev/video0'),
25+
DeclareLaunchArgument("front_camera_calibration_path",
26+
default_value="package://sauvc_cam/configs/front_camera.yaml"),
27+
DeclareLaunchArgument('front_camera_output_width',
28+
default_value='640',
29+
description='Ширина видео'),
30+
DeclareLaunchArgument('front_camera_output_height',
31+
default_value='480',
32+
description='Высота видео'),
33+
# bottom camera
34+
DeclareLaunchArgument("enable_bottom_camera",
35+
default_value="true",
36+
description="Включить (true) или отключить (false) ноду нижней камеры"),
37+
DeclareLaunchArgument('bottom_camera_topic',
38+
default_value='/stingray/topics/camera/bottom',
39+
description='Топик с изображениями для второй камеры'),
40+
DeclareLaunchArgument("bottom_camera_info_topic",
41+
default_value='/stingray/topics/camera/bottom/camera_info'),
42+
DeclareLaunchArgument("bottom_camera_path",
43+
default_value='/dev/video2'),
44+
DeclareLaunchArgument("bottom_camera_calibration_path",
45+
default_value="package://sauvc_cam/configs/bottom_camera.yaml"),
46+
DeclareLaunchArgument('bottom_camera_output_width',
47+
default_value='640',
48+
description='Ширина видео'),
49+
DeclareLaunchArgument('bottom_camera_output_height',
50+
default_value='480',
51+
description='Высота видео'),
52+
# recorder
53+
DeclareLaunchArgument("enable_recording_front_camera",
54+
default_value="true",
55+
description="Включить (true) или отключить (false) ноду нижней камеры"),
56+
DeclareLaunchArgument("enable_recording_bottom_camera",
57+
default_value="true",
58+
description="Включить(true) или отключить(false) ноду нижней камеры"),
59+
DeclareLaunchArgument('output_fps',
60+
default_value='15',
61+
description='Частота кадров видео'),
62+
DeclareLaunchArgument('output_format',
63+
default_value='h264',
64+
description='Формат видео (FourCC)'),
65+
DeclareLaunchArgument('record_dir',
66+
default_value='./records/',
67+
description='Путь к папке для сохранения записей'),
68+
69+
IncludeLaunchDescription(
70+
PythonLaunchDescriptionSource(str(Path(
71+
get_package_share_directory('stingray_launch'), 'zbar.launch.py'))),
72+
launch_arguments={
73+
'zbar_camera_topic': LaunchConfiguration("front_camera_topic"),
74+
}.items(),
75+
),
5076

5177
# Нода фронтальной камеры
5278
Node(
@@ -62,11 +88,14 @@ def generate_launch_description():
6288
{'camera_info_url': LaunchConfiguration(
6389
"front_camera_calibration_path")},
6490
{'camera_name': 'front_camera'},
65-
{'image_width': 640},
66-
{'image_height': 480},
91+
{'image_width': LaunchConfiguration(
92+
"front_camera_output_width")},
93+
{'image_height': LaunchConfiguration(
94+
"front_camera_output_height")},
6795
],
6896
respawn=True,
6997
respawn_delay=1,
98+
condition=IfCondition(LaunchConfiguration('enable_front_camera'))
7099
),
71100
# Нода нижней камеры (запускается при enable_bottom_camera==true)
72101
Node(
@@ -82,11 +111,41 @@ def generate_launch_description():
82111
{'camera_info_url': LaunchConfiguration(
83112
"bottom_camera_calibration_path")},
84113
{'camera_name': 'bottom_camera'},
85-
{'image_width': 640},
86-
{'image_height': 480},
114+
{'image_width': LaunchConfiguration(
115+
"bottom_camera_output_width")},
116+
{'image_height': LaunchConfiguration(
117+
"bottom_camera_output_width")},
87118
],
88119
respawn=True,
89120
respawn_delay=1,
90121
condition=IfCondition(LaunchConfiguration('enable_bottom_camera'))
91122
),
123+
124+
IncludeLaunchDescription(
125+
PythonLaunchDescriptionSource(str(Path(
126+
get_package_share_directory('stingray_launch'), 'recorder.launch.py'))),
127+
launch_arguments={
128+
'source_topic': LaunchConfiguration('front_camera_topic'),
129+
'output_width': LaunchConfiguration('front_camera_output_width'),
130+
'output_height': LaunchConfiguration('front_camera_output_height'),
131+
'output_fps': LaunchConfiguration('output_fps'),
132+
'output_format': LaunchConfiguration('output_format'),
133+
'record_dir': LaunchConfiguration('record_dir'),
134+
}.items(),
135+
condition=IfCondition(LaunchConfiguration('enable_recording_front_camera'))
136+
),
137+
138+
IncludeLaunchDescription(
139+
PythonLaunchDescriptionSource(str(Path(
140+
get_package_share_directory('stingray_launch'), 'recorder.launch.py'))),
141+
launch_arguments={
142+
'source_topic': LaunchConfiguration('bottom_camera_topic'),
143+
'output_width': LaunchConfiguration('bottom_camera_output_width'),
144+
'output_height': LaunchConfiguration('bottom_camera_output_height'),
145+
'output_fps': LaunchConfiguration('output_fps'),
146+
'output_format': LaunchConfiguration('output_format'),
147+
'record_dir': LaunchConfiguration('record_dir'),
148+
}.items(),
149+
condition=IfCondition(LaunchConfiguration('enable_recording_bottom_camera'))
150+
),
92151
])

‎src/sauvc_launch/launch/od.launch.py‎

Lines changed: 40 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,40 @@
1+
from pathlib import Path
2+
3+
from ament_index_python import get_package_share_directory
4+
5+
from launch import LaunchDescription
6+
from launch.actions import DeclareLaunchArgument
7+
from launch.actions import IncludeLaunchDescription
8+
from launch.launch_description_sources import PythonLaunchDescriptionSource
9+
from launch.substitutions import LaunchConfiguration
10+
from launch.conditions import IfCondition
11+
12+
13+
def generate_launch_description():
14+
# load ros config
15+
return LaunchDescription([
16+
# object detection
17+
DeclareLaunchArgument("image_topic_list",
18+
default_value='[/stingray/topics/camera/front, /stingray/topics/camera/bottom]'),
19+
DeclareLaunchArgument("camera_info_topic_list",
20+
default_value='[/stingray/topics/camera/front/camera_info, /stingray/topics/camera/bottom/camera_info]'),
21+
DeclareLaunchArgument("weights_pkg_name",
22+
default_value='sauvc_object_detection'),
23+
DeclareLaunchArgument("bbox_attrs_pkg_name",
24+
default_value='sauvc_object_detection'),
25+
DeclareLaunchArgument("debug",
26+
default_value='True'),
27+
28+
IncludeLaunchDescription(
29+
PythonLaunchDescriptionSource(str(Path(
30+
get_package_share_directory('stingray_launch'), 'od.launch.py'))),
31+
launch_arguments={
32+
'weights_pkg_name': LaunchConfiguration("weights_pkg_name"),
33+
'bbox_attrs_pkg_name': LaunchConfiguration("bbox_attrs_pkg_name"),
34+
'image_topic_list': LaunchConfiguration("image_topic_list"),
35+
'camera_info_topic_list': LaunchConfiguration("camera_info_topic_list"),
36+
'debug': LaunchConfiguration("debug"),
37+
}.items(),
38+
),
39+
40+
])

‎src/sauvc_launch/launch/vision_yolov5.launch.py‎

Lines changed: 0 additions & 58 deletions
This file was deleted.

‎src/sauvc_launch/launch/vision_yolov8.launch.py‎

Lines changed: 0 additions & 58 deletions
This file was deleted.

‎src/stingray‎

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