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reformat python code as "black" and fix import order #36

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Oct 17, 2023
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reformat python code as "black" and fix import order #36

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77 changes: 41 additions & 36 deletions launch/driver_composition.launch.py
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Expand Up @@ -15,55 +15,60 @@
#
#


import os

from ament_index_python.packages import get_package_share_directory
import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.substitutions import LaunchConfiguration as LaunchConfig
from launch.actions import DeclareLaunchArgument as LaunchArg
from launch.actions import OpaqueFunction
from ament_index_python.packages import get_package_share_directory
import os
from launch.substitutions import LaunchConfiguration as LaunchConfig
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def launch_setup(context, *args, **kwargs):
"""Create composable node."""
cam_name = LaunchConfig('camera_name')
cam_name = LaunchConfig("camera_name")
cam_str = cam_name.perform(context)
pkg_name = 'metavision_driver'
pkg_name = "metavision_driver"
share_dir = get_package_share_directory(pkg_name)
trigger_config = os.path.join(share_dir, 'config', 'trigger_pins.yaml')
bias_config = os.path.join(share_dir, 'config', 'silky_ev_cam.bias')
trigger_config = os.path.join(share_dir, "config", "trigger_pins.yaml")
bias_config = os.path.join(share_dir, "config", "silky_ev_cam.bias")
container = ComposableNodeContainer(
name='metavision_driver_container',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
ComposableNode(
package='metavision_driver',
plugin='metavision_driver::DriverROS2',
name=cam_name,
parameters=[
trigger_config, # loads the whole file
{'use_multithreading': False,
'bias_file': bias_config,
'camerainfo_url': '',
'frame_id': '',
'event_message_time_threshold': 1.0e-3}],
remappings=[
('~/events', cam_str + '/events')],
extra_arguments=[{'use_intra_process_comms': True}],
)
],
output='screen',
name="metavision_driver_container",
namespace="",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
ComposableNode(
package="metavision_driver",
plugin="metavision_driver::DriverROS2",
name=cam_name,
parameters=[
trigger_config, # loads the whole file
{
"use_multithreading": False,
"bias_file": bias_config,
"camerainfo_url": "",
"frame_id": "",
"event_message_time_threshold": 1.0e-3,
},
],
remappings=[("~/events", cam_str + "/events")],
extra_arguments=[{"use_intra_process_comms": True}],
)
],
output="screen",
)
return [container]


def generate_launch_description():
"""Create composable node by calling opaque function."""
return launch.LaunchDescription([
LaunchArg('camera_name', default_value=['event_camera'],
description='camera name'),
OpaqueFunction(function=launch_setup)
])
return launch.LaunchDescription(
[
LaunchArg("camera_name", default_value=["event_camera"], description="camera name"),
OpaqueFunction(function=launch_setup),
]
)
83 changes: 44 additions & 39 deletions launch/driver_node.launch.py
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Expand Up @@ -15,57 +15,62 @@
#
#

import os

from ament_index_python.packages import get_package_share_directory
import launch
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration as LaunchConfig
from launch.actions import DeclareLaunchArgument as LaunchArg
from launch.actions import OpaqueFunction
from ament_index_python.packages import get_package_share_directory
import os
from launch.substitutions import LaunchConfiguration as LaunchConfig
from launch_ros.actions import Node


def launch_setup(context, *args, **kwargs):
"""Create simple node."""
cam_name = LaunchConfig('camera_name')
cam_name = LaunchConfig("camera_name")
cam_str = cam_name.perform(context)
pkg_name = 'metavision_driver'
pkg_name = "metavision_driver"
share_dir = get_package_share_directory(pkg_name)
trigger_config = os.path.join(share_dir, 'config', 'trigger_pins.yaml')
trigger_config = os.path.join(share_dir, "config", "trigger_pins.yaml")
# bias_config = os.path.join(share_dir, 'config', 'silky_ev_cam.bias')
node = Node(package='metavision_driver',
executable='driver_node',
output='screen',
# prefix=['xterm -e gdb -ex run --args'],
name=cam_name,
parameters=[
trigger_config, # loads the whole file
{'use_multithreading': False,
'statistics_print_interval': 2.0,
# 'bias_file': bias_config,
'camerainfo_url': '',
'frame_id': '',
'serial': LaunchConfig('serial'),
'erc_mode': 'enabled',
'erc_rate': 100000000,
# 'roi': [0, 0, 100, 100],
# valid: 'external', 'loopback', 'disabled'
'trigger_in_mode': 'external',
# valid: 'enabled', 'disabled'
'trigger_out_mode': 'enabled',
'trigger_out_period': 100000, # in usec
'trigger_duty_cycle': 0.5, # fraction high/low
'event_message_time_threshold': 1.0e-3}],
remappings=[
('~/events', cam_str + '/events')])
node = Node(
package="metavision_driver",
executable="driver_node",
output="screen",
# prefix=['xterm -e gdb -ex run --args'],
name=cam_name,
parameters=[
trigger_config, # loads the whole file
{
"use_multithreading": False,
"statistics_print_interval": 2.0,
# 'bias_file': bias_config,
"camerainfo_url": "",
"frame_id": "",
"serial": LaunchConfig("serial"),
"erc_mode": "enabled",
"erc_rate": 100000000,
# 'roi': [0, 0, 100, 100],
# valid: 'external', 'loopback', 'disabled'
"trigger_in_mode": "external",
# valid: 'enabled', 'disabled'
"trigger_out_mode": "enabled",
"trigger_out_period": 100000, # in usec
"trigger_duty_cycle": 0.5, # fraction high/low
"event_message_time_threshold": 1.0e-3,
},
],
remappings=[("~/events", cam_str + "/events")],
)
return [node]


def generate_launch_description():
"""Create simple node by calling opaque function."""
return launch.LaunchDescription([
LaunchArg('camera_name', default_value=['event_camera'],
description='camera name'),
LaunchArg('serial', default_value=[''],
description='serial number of camera'),
OpaqueFunction(function=launch_setup)
])
return launch.LaunchDescription(
[
LaunchArg("camera_name", default_value=["event_camera"], description="camera name"),
LaunchArg("serial", default_value=[""], description="serial number of camera"),
OpaqueFunction(function=launch_setup),
]
)
24 changes: 11 additions & 13 deletions launch/recorder_node.launch.py
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Expand Up @@ -16,26 +16,24 @@
#

import launch
from launch_ros.actions import Node
from launch.actions import OpaqueFunction
from launch_ros.actions import Node


def launch_setup(context, *args, **kwargs):
"""Create simple node."""
node = Node(package='metavision_driver',
# prefix=['xterm -e gdb -ex run --args'],
executable='recorder_node',
output='screen',
name='recorder_node',
parameters=[{'topics': ['/event_camera/events', '/image'],
'base_name': 'events_'}],
remappings=[
('~/events', '/events')])
node = Node(
package="metavision_driver",
# prefix=['xterm -e gdb -ex run --args'],
executable="recorder_node",
output="screen",
name="recorder_node",
parameters=[{"topics": ["/event_camera/events", "/image"], "base_name": "events_"}],
remappings=[("~/events", "/events")],
)
return [node]


def generate_launch_description():
"""Create simple node by calling opaque function."""
return launch.LaunchDescription([
OpaqueFunction(function=launch_setup)
])
return launch.LaunchDescription([OpaqueFunction(function=launch_setup)])
96 changes: 50 additions & 46 deletions launch/recording_driver.launch.py
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Expand Up @@ -16,63 +16,67 @@
#

import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch.substitutions import LaunchConfiguration as LaunchConfig
from launch.actions import DeclareLaunchArgument as LaunchArg
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration as LaunchConfig
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def launch_setup(context, *args, **kwargs):
"""Create composable node."""
cam_name = LaunchConfig('camera_name')
cam_name = LaunchConfig("camera_name")
cam_str = cam_name.perform(context)
container = ComposableNodeContainer(
name='metavision_driver_container',
namespace='',
package='rclcpp_components',
executable='component_container',
# prefix=['xterm -e gdb -ex run --args'],
composable_node_descriptions=[
ComposableNode(
package='metavision_driver',
plugin='metavision_driver::DriverROS2',
name=cam_name,
parameters=[
{'use_multithreading': False,
'statistics_print_interval': 2.0,
'camerainfo_url': '',
'frame_id': '',
'event_message_time_threshold': 1.0e-3}],
remappings=[
('~/events', cam_str + '/events')],
extra_arguments=[{'use_intra_process_comms': True}],
),
ComposableNode(
package='rosbag2_composable_recorder',
plugin='rosbag2_composable_recorder::ComposableRecorder',
name="recorder",
parameters=[{'topics': ['/event_camera/events'],
'bag_name': LaunchConfig('bag'),
'bag_prefix': LaunchConfig('bag_prefix')}],
remappings=[
('~/events', cam_str + '/events')],
extra_arguments=[{'use_intra_process_comms': True}],
)
],
output='screen',
name="metavision_driver_container",
namespace="",
package="rclcpp_components",
executable="component_container",
# prefix=['xterm -e gdb -ex run --args'],
composable_node_descriptions=[
ComposableNode(
package="metavision_driver",
plugin="metavision_driver::DriverROS2",
name=cam_name,
parameters=[
{
"use_multithreading": False,
"statistics_print_interval": 2.0,
"camerainfo_url": "",
"frame_id": "",
"event_message_time_threshold": 1.0e-3,
}
],
remappings=[("~/events", cam_str + "/events")],
extra_arguments=[{"use_intra_process_comms": True}],
),
ComposableNode(
package="rosbag2_composable_recorder",
plugin="rosbag2_composable_recorder::ComposableRecorder",
name="recorder",
parameters=[
{
"topics": ["/event_camera/events"],
"bag_name": LaunchConfig("bag"),
"bag_prefix": LaunchConfig("bag_prefix"),
}
],
remappings=[("~/events", cam_str + "/events")],
extra_arguments=[{"use_intra_process_comms": True}],
),
],
output="screen",
)
return [container]


def generate_launch_description():
"""Create composable node by calling opaque function."""
return launch.LaunchDescription([
LaunchArg('camera_name', default_value=['event_camera'],
description='camera name'),
LaunchArg('bag', default_value=[''],
description='name of output bag'),
LaunchArg('bag_prefix', default_value=['events_'],
description='prefix of output bag'),
OpaqueFunction(function=launch_setup)
])
return launch.LaunchDescription(
[
LaunchArg("camera_name", default_value=["event_camera"], description="camera name"),
LaunchArg("bag", default_value=[""], description="name of output bag"),
LaunchArg("bag_prefix", default_value=["events_"], description="prefix of output bag"),
OpaqueFunction(function=launch_setup),
]
)
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