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Updated rs_launch param names #2847

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merged 3 commits into from
Sep 6, 2023
Merged

Updated rs_launch param names #2847

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5663e71
Updated rs_launch param names
Arun-Prasad-V Aug 14, 2023
116ac2e
Updated the rs_launch.py params
Arun-Prasad-V Aug 14, 2023
7fef703
updated node output setting
Arun-Prasad-V Aug 17, 2023
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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -464,7 +464,7 @@ The following post processing filters are available:
* pointcloud is of an unordered format by default. This can be changed by setting `pointcloud.ordered_pc` to true.
- ```hdr_merge```: Allows depth image to be created by merging the information from 2 consecutive frames, taken with different exposure and gain values.
- The way to set exposure and gain values for each sequence in runtime is by first selecting the sequence id, using the `depth_module.sequence_id` parameter and then modifying the `depth_module.gain`, and `depth_module.exposure`.
- To view the effect on the infrared image for each sequence id use the `sequence_id_filter.sequence_id` parameter.
- To view the effect on the infrared image for each sequence id use the `filter_by_sequence_id.sequence_id` parameter.
- To initialize these parameters in start time use the following parameters:
- `depth_module.exposure.1`
- `depth_module.gain.1`
Expand Down
70 changes: 38 additions & 32 deletions realsense2_camera/launch/rs_launch.py
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Expand Up @@ -27,56 +27,62 @@
{'name': 'usb_port_id', 'default': "''", 'description': 'choose device by usb port id'},
{'name': 'device_type', 'default': "''", 'description': 'choose device by type'},
{'name': 'config_file', 'default': "''", 'description': 'yaml config file'},
{'name': 'unite_imu_method', 'default': "0", 'description': '[0-None, 1-copy, 2-linear_interpolation]'},
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Re-arranged all the params.

{'name': 'json_file_path', 'default': "''", 'description': 'allows advanced configuration'},
{'name': 'initial_reset', 'default': 'false', 'description': "''"},
{'name': 'rosbag_filename', 'default': "''", 'description': 'A realsense bagfile to run from as a device'},
{'name': 'log_level', 'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
{'name': 'output', 'default': 'screen', 'description': 'pipe node output [screen|log]'},
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{'name': 'depth_module.profile', 'default': '0,0,0', 'description': 'depth module profile'},
{'name': 'depth_module.depth_format', 'default': 'Z16', 'description': 'depth stream format'},
{'name': 'depth_module.infra_format', 'default': 'RGB8', 'description': 'infra0 stream format'},
{'name': 'depth_module.infra1_format', 'default': 'Y8', 'description': 'infra1 stream format'},
{'name': 'depth_module.infra2_format', 'default': 'Y8', 'description': 'infra2 stream format'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'rgb_camera.profile', 'default': '0,0,0', 'description': 'color image width'},
{'name': 'rgb_camera.color_format', 'default': 'RGB8', 'description': 'color stream format'},
{'name': 'rgb_camera.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for color image'},
{'name': 'enable_color', 'default': 'true', 'description': 'enable color stream'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'enable_infra', 'default': 'false', 'description': 'enable infra0 stream'},
{'name': 'enable_infra1', 'default': 'false', 'description': 'enable infra1 stream'},
{'name': 'enable_infra2', 'default': 'false', 'description': 'enable infra2 stream'},
{'name': 'enable_fisheye1', 'default': 'true', 'description': 'enable fisheye1 stream'},
{'name': 'enable_fisheye2', 'default': 'true', 'description': 'enable fisheye2 stream'},
{'name': 'depth_module.profile', 'default': '0,0,0', 'description': 'depth module profile'},
{'name': 'depth_module.depth_format', 'default': 'Z16', 'description': 'depth stream format'},
{'name': 'depth_module.infra_format', 'default': 'RGB8', 'description': 'infra0 stream format'},
{'name': 'depth_module.infra1_format', 'default': 'Y8', 'description': 'infra1 stream format'},
{'name': 'depth_module.infra2_format', 'default': 'Y8', 'description': 'infra2 stream format'},
{'name': 'depth_module.exposure', 'default': '8500', 'description': 'Depth module manual exposure value'},
{'name': 'depth_module.gain', 'default': '16', 'description': 'Depth module manual gain value'},
{'name': 'depth_module.hdr_enabled', 'default': 'false', 'description': 'Depth module hdr enablement flag. Used for hdr_merge filter'},
{'name': 'depth_module.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'},
{'name': 'depth_module.exposure.1', 'default': '7500', 'description': 'Depth module first exposure value. Used for hdr_merge filter'},
{'name': 'depth_module.gain.1', 'default': '16', 'description': 'Depth module first gain value. Used for hdr_merge filter'},
{'name': 'depth_module.exposure.2', 'default': '1', 'description': 'Depth module second exposure value. Used for hdr_merge filter'},
{'name': 'depth_module.gain.2', 'default': '16', 'description': 'Depth module second gain value. Used for hdr_merge filter'},
{'name': 'enable_confidence', 'default': 'true', 'description': 'enable confidence'},
{'name': 'gyro_fps', 'default': '0', 'description': "''"},
{'name': 'accel_fps', 'default': '0', 'description': "''"},
{'name': 'enable_sync', 'default': 'false', 'description': "'enable sync mode'"},
{'name': 'enable_rgbd', 'default': 'false', 'description': "'enable rgbd topic'"},
{'name': 'enable_gyro', 'default': 'false', 'description': "'enable gyro stream'"},
{'name': 'enable_accel', 'default': 'false', 'description': "'enable accel stream'"},
{'name': 'gyro_fps', 'default': '0', 'description': "''"},
{'name': 'accel_fps', 'default': '0', 'description': "''"},
{'name': 'unite_imu_method', 'default': "0", 'description': '[0-None, 1-copy, 2-linear_interpolation]'},
{'name': 'enable_pose', 'default': 'true', 'description': "'enable pose stream'"},
{'name': 'pose_fps', 'default': '200', 'description': "''"},
{'name': 'pointcloud.enable', 'default': 'false', 'description': ''},
{'name': 'pointcloud.stream_filter', 'default': '2', 'description': 'texture stream for pointcloud'},
{'name': 'pointcloud.stream_index_filter','default': '0', 'description': 'texture stream index for pointcloud'},
{'name': 'pointcloud.ordered_pc', 'default': 'false', 'description': ''},
{'name': 'enable_sync', 'default': 'false', 'description': "'enable sync mode'"},
{'name': 'enable_rgbd', 'default': 'false', 'description': "'enable rgbd topic'"},
{'name': 'align_depth.enable', 'default': 'false', 'description': "'enable align depth filter'"},
{'name': 'colorizer.enable', 'default': 'false', 'description': "''"},
{'name': 'clip_distance', 'default': '-2.', 'description': "''"},
{'name': 'angular_velocity_cov', 'default': '0.01', 'description': "''"},
{'name': 'linear_accel_cov', 'default': '0.01', 'description': "''"},
{'name': 'initial_reset', 'default': 'false', 'description': "''"},
{'name': 'allow_no_texture_points', 'default': 'false', 'description': "''"},
{'name': 'diagnostics_period', 'default': '0.0', 'description': 'Rate of publishing diagnostics. 0=Disabled'},
{'name': 'publish_tf', 'default': 'true', 'description': '[bool] enable/disable publishing static & dynamic TF'},
{'name': 'tf_publish_rate', 'default': '0.0', 'description': '[double] rate in Hz for publishing dynamic TF'},
{'name': 'diagnostics_period', 'default': '0.0', 'description': 'Rate of publishing diagnostics. 0=Disabled'},
{'name': 'decimation_filter.enable', 'default': 'false', 'description': 'Rate of publishing static_tf'},
{'name': 'rosbag_filename', 'default': "''", 'description': 'A realsense bagfile to run from as a device'},
{'name': 'depth_module.exposure.1', 'default': '7500', 'description': 'Depth module first exposure value. Used for hdr_merge filter'},
{'name': 'depth_module.gain.1', 'default': '16', 'description': 'Depth module first gain value. Used for hdr_merge filter'},
{'name': 'depth_module.exposure.2', 'default': '1', 'description': 'Depth module second exposure value. Used for hdr_merge filter'},
{'name': 'depth_module.gain.2', 'default': '16', 'description': 'Depth module second gain value. Used for hdr_merge filter'},
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{'name': 'depth_module.exposure', 'default': '8500', 'description': 'Depth module manual exposure value'},
{'name': 'depth_module.hdr_enabled', 'default': 'false', 'description': 'Depth module hdr enablement flag. Used for hdr_merge filter'},
{'name': 'depth_module.enable_auto_exposure', 'default': 'true', 'description': 'enable/disable auto exposure for depth image'},
{'name': 'pointcloud.enable', 'default': 'false', 'description': ''},
{'name': 'pointcloud.stream_filter', 'default': '2', 'description': 'texture stream for pointcloud'},
{'name': 'pointcloud.stream_index_filter','default': '0', 'description': 'texture stream index for pointcloud'},
{'name': 'pointcloud.ordered_pc', 'default': 'false', 'description': ''},
{'name': 'pointcloud.allow_no_texture_points', 'default': 'false', 'description': "''"},
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Renamed:

  • allow_no_texture_points to pointcloud.allow_no_texture_points

{'name': 'align_depth.enable', 'default': 'false', 'description': 'enable align depth filter'},
{'name': 'colorizer.enable', 'default': 'false', 'description': 'enable colorizer filter'},
{'name': 'decimation_filter.enable', 'default': 'false', 'description': 'enable_decimation_filter'},
{'name': 'spatial_filter.enable', 'default': 'false', 'description': 'enable_spatial_filter'},
{'name': 'temporal_filter.enable', 'default': 'false', 'description': 'enable_temporal_filter'},
{'name': 'disparity_filter.enable', 'default': 'false', 'description': 'enable_disparity_filter'},
{'name': 'hole_filling_filter.enable', 'default': 'false', 'description': 'enable_hole_filling_filter'},
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Added:

  • spatial_filter.enable
  • temporal_filter.enable
  • disparity_filter.enable
  • hole_filling_filter.enable

{'name': 'hdr_merge.enable', 'default': 'false', 'description': 'hdr_merge filter enablement flag'},
{'name': 'wait_for_device_timeout', 'default': '-1.', 'description': 'Timeout for waiting for device to connect (Seconds)'},
{'name': 'reconnect_timeout', 'default': '6.', 'description': 'Timeout(seconds) between consequtive reconnection attempts'},
Expand Down Expand Up @@ -107,7 +113,7 @@ def launch_setup(context, params, param_name_suffix=''):
parameters=[params
, params_from_file
],
output='screen',
output=LaunchConfiguration('output' + param_name_suffix),
arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
)
]
Expand All @@ -121,7 +127,7 @@ def launch_setup(context, params, param_name_suffix=''):
parameters=[params
, params_from_file
],
output='screen',
output=LaunchConfiguration('output' + param_name_suffix),
arguments=['--ros-args', '--log-level', LaunchConfiguration('log_level' + param_name_suffix)],
emulate_tty=True,
)
Expand Down