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vladushkedvladushked
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‎src/sauvc_launch/launch/cam.launch.py‎

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from pathlib import Path
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from ament_index_python import get_package_share_directory
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from launch.conditions import IfCondition
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from launch.actions import IncludeLaunchDescription
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def generate_launch_description():
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return LaunchDescription([
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DeclareLaunchArgument("enable_front_camera",
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default_value="true",
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description="Включить (true) или отключить (false) ноду нижней камеры"),
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DeclareLaunchArgument('front_camera_topic',
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default_value='/stingray/topics/camera/front',
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description='Топик с изображениями для первой камеры'),
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DeclareLaunchArgument("front_camera_info_topic",
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default_value='/stingray/topics/camera/front/camera_info'),
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DeclareLaunchArgument("front_camera_path",
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default_value='/dev/video0'),
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DeclareLaunchArgument("front_camera_calibration_path",
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default_value="package://sauvc_cam/configs/front_camera.yaml"),
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DeclareLaunchArgument('front_camera_output_width',
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default_value='640',
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description='Ширина видео'),
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DeclareLaunchArgument('front_camera_output_height',
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default_value='480',
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description='Высота видео'),
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DeclareLaunchArgument('front_camera_framerate',
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default_value='30.0',
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description='Частота кадров видео'),
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# bottom camera
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DeclareLaunchArgument("enable_bottom_camera",
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default_value="true",
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description="Включить (true) или отключить (false) ноду нижней камеры"),
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DeclareLaunchArgument('bottom_camera_topic',
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default_value='/stingray/topics/camera/bottom',
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description='Топик с изображениями для второй камеры'),
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DeclareLaunchArgument("bottom_camera_info_topic",
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default_value='/stingray/topics/camera/bottom/camera_info'),
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DeclareLaunchArgument("bottom_camera_path",
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default_value='/dev/video0'),
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DeclareLaunchArgument("bottom_camera_calibration_path",
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default_value="package://sauvc_cam/configs/bottom_camera.yaml"),
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DeclareLaunchArgument('bottom_camera_output_width',
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default_value='640',
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description='Ширина видео'),
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DeclareLaunchArgument('bottom_camera_output_height',
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default_value='480',
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description='Высота видео'),
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DeclareLaunchArgument('bottom_camera_framerate',
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default_value='30.0',
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description='Частота кадров видео'),
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# recorder
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DeclareLaunchArgument("enable_recording_front_camera",
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default_value="true",
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description="Включить (true) или отключить (false) ноду нижней камеры"),
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DeclareLaunchArgument("enable_recording_bottom_camera",
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default_value="true",
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description="Включить(true) или отключить(false) ноду нижней камеры"),
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DeclareLaunchArgument('output_fps',
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default_value='30',
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description='Частота кадров видео'),
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DeclareLaunchArgument('output_format',
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default_value='h264',
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description='Формат видео (FourCC)'),
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DeclareLaunchArgument('record_dir',
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default_value='./records/',
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description='Путь к папке для сохранения записей'),
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DeclareLaunchArgument("enable_recording_topic",
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default_value='/stingray/topics/enable_recording'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(str(Path(
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get_package_share_directory('stingray_launch'), 'zbar.launch.py'))),
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launch_arguments={
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'zbar_camera_topic': LaunchConfiguration("front_camera_topic"),
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}.items(),
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),
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# Нода фронтальной камеры
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Node(
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package='usb_cam',
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executable='usb_cam_node_exe',
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name='front_camera_node',
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remappings=[
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('/image_raw', LaunchConfiguration("front_camera_topic")),
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('/camera_info', LaunchConfiguration("front_camera_info_topic")),
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],
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parameters=[
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{'framerate': LaunchConfiguration("front_camera_framerate")},
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{'video_device': LaunchConfiguration("front_camera_path")},
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{'camera_info_url': LaunchConfiguration(
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"front_camera_calibration_path")},
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{'camera_name': 'front_camera'},
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{'image_width': LaunchConfiguration(
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"front_camera_output_width")},
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{'image_height': LaunchConfiguration(
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"front_camera_output_height")},
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],
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respawn=True,
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respawn_delay=1,
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condition=IfCondition(LaunchConfiguration('enable_front_camera'))
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),
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# Нода нижней камеры (запускается при enable_bottom_camera==true)
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Node(
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package='usb_cam',
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executable='usb_cam_node_exe',
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name='bottom_camera_node',
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remappings=[
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('/image_raw', LaunchConfiguration("bottom_camera_topic")),
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('/camera_info', LaunchConfiguration("bottom_camera_info_topic")),
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],
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parameters=[
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{'framerate': LaunchConfiguration("bottom_camera_framerate")},
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{'video_device': LaunchConfiguration("bottom_camera_path")},
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{'camera_info_url': LaunchConfiguration(
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"bottom_camera_calibration_path")},
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{'camera_name': 'bottom_camera'},
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{'image_width': LaunchConfiguration(
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"bottom_camera_output_width")},
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{'image_height': LaunchConfiguration(
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"bottom_camera_output_height")},
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],
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respawn=True,
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respawn_delay=1,
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condition=IfCondition(LaunchConfiguration('enable_bottom_camera'))
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(str(Path(
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get_package_share_directory('stingray_launch'), 'recorder.launch.py'))),
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launch_arguments={
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'recorder_name': 'front_camera_recorder',
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'source_topic': LaunchConfiguration('front_camera_topic'),
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'output_width': LaunchConfiguration('front_camera_output_width'),
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'output_height': LaunchConfiguration('front_camera_output_height'),
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'output_fps': LaunchConfiguration('output_fps'),
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'output_format': LaunchConfiguration('output_format'),
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'record_dir': LaunchConfiguration('record_dir'),
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'enable_recording_topic': LaunchConfiguration('enable_recording_topic'),
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}.items(),
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condition=IfCondition(LaunchConfiguration('enable_recording_front_camera'))
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(str(Path(
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get_package_share_directory('stingray_launch'), 'recorder.launch.py'))),
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launch_arguments={
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'recorder_name': 'bottom_camera_recorder',
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'source_topic': LaunchConfiguration('bottom_camera_topic'),
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'output_width': LaunchConfiguration('bottom_camera_output_width'),
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'output_height': LaunchConfiguration('bottom_camera_output_height'),
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'output_fps': LaunchConfiguration('output_fps'),
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'output_format': LaunchConfiguration('output_format'),
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'record_dir': LaunchConfiguration('record_dir'),
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'enable_recording_topic': LaunchConfiguration('enable_recording_topic'),
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}.items(),
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condition=IfCondition(LaunchConfiguration('enable_recording_bottom_camera'))
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),
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])

‎src/sauvc_launch/launch/missions.launch.py‎

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def generate_launch_description():
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# object detection
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bbox_array_topic_arg = DeclareLaunchArgument(
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"bbox_array_topic", default_value='/stingray/topics/front_camera/bbox_array'
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"bbox_array_topic", default_value='/stingray/topics/camera/front/bbox_array'
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)
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# missions

‎src/sauvc_launch/launch/od.launch.py‎

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from pathlib import Path
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from ament_index_python import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch.conditions import IfCondition
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def generate_launch_description():
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# load ros config
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return LaunchDescription([
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# object detection
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DeclareLaunchArgument("image_topic_list",
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default_value='[/stingray/topics/camera/front, /stingray/topics/camera/bottom]'),
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DeclareLaunchArgument("camera_info_topic_list",
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default_value='[/stingray/topics/camera/front/camera_info, /stingray/topics/camera/bottom/camera_info]'),
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DeclareLaunchArgument("weights_pkg_name",
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default_value='sauvc_object_detection'),
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DeclareLaunchArgument("bbox_attrs_pkg_name",
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default_value='sauvc_object_detection'),
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DeclareLaunchArgument("debug",
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default_value='True'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(str(Path(
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get_package_share_directory('stingray_launch'), 'od.launch.py'))),
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launch_arguments={
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'weights_pkg_name': LaunchConfiguration("weights_pkg_name"),
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'bbox_attrs_pkg_name': LaunchConfiguration("bbox_attrs_pkg_name"),
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'image_topic_list': LaunchConfiguration("image_topic_list"),
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'camera_info_topic_list': LaunchConfiguration("camera_info_topic_list"),
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'debug': LaunchConfiguration("debug"),
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}.items(),
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),
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])

‎src/sauvc_launch/launch/recorder.launch.py‎

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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch.conditions import IfCondition
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def generate_launch_description():
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return LaunchDescription([
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# Аргументы для первой камеры
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DeclareLaunchArgument('output_width', default_value='640',
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description='Ширина видео'),
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DeclareLaunchArgument('output_height', default_value='480',
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description='Высота видео'),
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DeclareLaunchArgument('output_fps', default_value='15',
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description='Частота кадров видео'),
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DeclareLaunchArgument('output_format', default_value='h264',
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description='Формат видео (FourCC)'),
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DeclareLaunchArgument('record_dir', default_value='./records/',
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description='Путь к папке для сохранения записей'),
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# Аргументы для первой камеры
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DeclareLaunchArgument('front_camera_topic', default_value='/stingray/topics/camera/front',
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description='Топик с изображениями для первой камеры'),
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# Аргументы для второй камеры
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DeclareLaunchArgument('enable_bottom_camera', default_value='true',
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description='Включить (true) или отключить (false) запуск второй камеры'),
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DeclareLaunchArgument('bottom_camera_topic', default_value='/stingray/topics/camera/bottom',
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description='Топик с изображениями для второй камеры'),
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# Нода для первой камеры
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Node(
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package='stingray_recorder', # замените на имя вашего пакета
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executable='video_recorder_node', # имя исполняемого файла ноды
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name='front_camera_video_recorder',
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parameters=[
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{'source_topic': LaunchConfiguration('front_camera_topic')},
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{'output_width': LaunchConfiguration('output_width')},
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{'output_height': LaunchConfiguration('output_height')},
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{'output_fps': LaunchConfiguration('output_fps')},
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{'output_format': LaunchConfiguration('output_format')},
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{'record_dir': LaunchConfiguration('record_dir')},
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]
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),
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# Нода для второй камеры (запускается только если enable_second_camera == "true")
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Node(
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package='stingray_recorder', # замените на имя вашего пакета
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executable='video_recorder_node',
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name='bottom_camera_video_recorder',
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parameters=[
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{'source_topic': LaunchConfiguration('bottom_camera_topic')},
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{'output_width': LaunchConfiguration('output_width')},
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{'output_height': LaunchConfiguration('output_height')},
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{'output_fps': LaunchConfiguration('output_fps')},
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{'output_format': LaunchConfiguration('output_format')},
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{'record_dir': LaunchConfiguration('record_dir')},
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],
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condition=IfCondition(LaunchConfiguration('enable_bottom_camera'))
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)
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])

‎src/sauvc_launch/launch/vision_yolov5.launch.py‎

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‎src/sauvc_launch/launch/vision_yolov8.launch.py‎

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