Ejemplos de declare_configurable_parameters en Python

Ejemplo n.º 1

Archivo: rs_multi_camera_launch.py Proyecto: kiwicampus/realsense-ros

def generate_launch_description():
    params1 = duplicate_params(rs_launch.configurable_parameters, '1')
    params2 = duplicate_params(rs_launch.configurable_parameters, '2')
    return LaunchDescription(
        rs_launch.declare_configurable_parameters(local_parameters) +
        rs_launch.declare_configurable_parameters(params1) +
        rs_launch.declare_configurable_parameters(params2) + [
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(
                    [ThisLaunchFileDir(), '/rs_launch.py']),
                launch_arguments=set_configurable_parameters(params1).items(),
            ),
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(
                    [ThisLaunchFileDir(), '/rs_launch.py']),
                launch_arguments=set_configurable_parameters(params2).items(),
            ),
            # dummy static transformation from camera1 to camera2
            launch_ros.actions.Node(package="tf2_ros",
                                    executable="static_transform_publisher",
                                    arguments=[
                                        "0", "0", "0", "0", "0", "0",
                                        "camera1_link", "camera2_link"
                                    ]),
        ])

Ejemplo n.º 2

def generate_launch_description():
    params1 = duplicate_params(rs_launch.configurable_parameters, '1')
    params2 = duplicate_params(rs_launch.configurable_parameters, '2')
    return LaunchDescription(
        rs_launch.declare_configurable_parameters(params1) + 
        rs_launch.declare_configurable_parameters(params2) + 
        [
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rs_launch.py']),
            launch_arguments=set_configurable_parameters(params1).items(),
        ),
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/rs_launch.py']),
            launch_arguments=set_configurable_parameters(params2).items(),
        ),
    ])

Ejemplo n.º 3

def generate_launch_description():
    return LaunchDescription(
        rs_launch.declare_configurable_parameters(local_parameters) + [
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(
                    [ThisLaunchFileDir(), '/rs_multi_camera_launch.py']),
                launch_arguments=rs_launch.set_configurable_parameters(
                    local_parameters).items(),
            ),
        ])

Ejemplo n.º 4

Archivo: demo_pointcloud_launch.py Proyecto: kiwicampus/realsense-ros

def generate_launch_description():
    rviz_config_dir = os.path.join(
        get_package_share_directory('realsense2_camera'), 'rviz',
        'pointcloud.rviz')
    rviz_node = Node(package='rviz2',
                     executable='rviz2',
                     name='rviz2',
                     output='screen',
                     arguments=['-d', rviz_config_dir],
                     parameters=[{
                         'use_sim_time': False
                     }])

    return LaunchDescription(
        rs_launch.declare_configurable_parameters(local_parameters) + [
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(
                    [ThisLaunchFileDir(), '/rs_launch.py']),
                launch_arguments=rs_launch.set_configurable_parameters(
                    local_parameters).items(),
            ), rviz_node
        ])