fix(spinnaker_launch): upgrade mapping solution (#355)

* upgrade mapping solution Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * feat: add use image transport argument Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * ci(pre-commit): autofix * fix typo Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * merge faield Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * ci(pre-commit): autofix * also remap the compressed topic Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Dec 11, 2024 · 6eb32ab · 6eb32ab
1 parent 75b89c6
commit 6eb32ab
Showing 1 changed file with 26 additions and 2 deletions.
diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py
@@ -39,16 +39,38 @@ def load_composable_node_param(param_path):
             namespace=LaunchConfiguration("spinnaker_namespace"),
             remappings=[
                 (
-                    "camera0/image_raw",
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/image_raw",
+                    ],
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/",
+                        LaunchConfiguration("image_topic"),
+                    ],
+                ),
+                (
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/image_raw/compressed",
+                    ],
                     [
                         "camera",
                         LaunchConfiguration("camera_id"),
                         "/",
                         LaunchConfiguration("image_topic"),
+                        "/compressed",
                     ],
                 ),
                 (
-                    "camera0/camera_info",
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/camera_info",
+                    ],
                     ["camera", LaunchConfiguration("camera_id"), "/camera_info"],
                 ),
             ],
@@ -59,6 +81,7 @@ def load_composable_node_param(param_path):
                         "camera_info_url"
                     ),
                 },
+                {"use_image_transport": LaunchConfiguration("use_image_transport")},
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         ),
@@ -98,6 +121,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("spinnaker_namespace", "/sensing/camera")
     add_launch_arg("spinnaker_param_path")
     add_launch_arg("camera_info_url")
+    add_launch_arg("use_image_transport", "True")
     add_launch_arg("use_intra_process", "True")
     set_camera_info_url_key = SetLaunchConfiguration(
         "camera_info_url_key",