Update Realsense camera launch file to work with new firmware (#31)

Directly call realsense launch file from custom launch file, and add values for parameters for consistent image
StanfordASL · Jan 30, 2025 · f22e036 · f22e036
1 parent f93459d
commit f22e036
Showing 1 changed file with 32 additions and 18 deletions.
diff --git a/ff_drivers/launch/rs_d455.launch.py b/ff_drivers/launch/rs_d455.launch.py
@@ -22,33 +22,47 @@
 
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node, SetParameter, PushRosNamespace
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
     robot_name = LaunchConfiguration("robot_name")
+    camera_name = LaunchConfiguration("camera_name")
+
+    launch_camera = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [FindPackageShare("realsense2_camera"), "launch", "rs_launch.py"]
+                )
+            ]
+        ),
+        launch_arguments={
+            "camera_name": camera_name,
+            "initial_reset": "True",
+            "rgb_camera.profile": "640x360x30",
+            "depth_module.profile": "640x360x30",
+            "rgb.enable_auto_white_balance": "False",
+            "rgb_enable_white_balance": "3800.0",
+            "rgb_enable_auto_exposure": "False",
+            "enable_infra1": "False",
+            "enable_infra2": "False",
+        }.items(),
+    )
 
     return LaunchDescription(
         [
             DeclareLaunchArgument("robot_name", default_value="robot"),
-            Node(
-                package="realsense2_camera",
-                executable="realsense2_camera_node",
-                name="realsense2_camera_node",
-                namespace=PathJoinSubstitution([robot_name, "camera"]),
-                parameters=[
-                    {
-                        "depth_module.profile": "640x360x30",
-                        "rgb_camera.profile": "640x360x30",
-                        "rgb_camera.enable_auto_exposure": False,
-                        "rgb_camera.enable_auto_white_balance": False,
-                        "rgb_camera.white_balance": 3800.0,
-                        "enable_infra1": False,
-                        "enable_infra2": False,
-                    }
-                ],
+            DeclareLaunchArgument("camera_name", default_value="camera"),
+            GroupAction(
+                actions=[
+                    PushRosNamespace(robot_name),
+                    launch_camera,
+                ]
             ),
         ]
     )