Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(spinnaker_launch): upgrade mapping solution #355

Merged
merged 11 commits into from
Dec 11, 2024
Merged

fix(spinnaker_launch): upgrade mapping solution #355

Changes from all commits
Commits
Show all changes
11 commits
Select commit Hold shift + click to select a range
2f572a0
upgrade mapping solution
Owen-Liuyuxuan Dec 10, 2024
f4d1b46
Merge branch 'tier4/universe' into spinnaker_remap
Owen-Liuyuxuan Dec 11, 2024
0acd96d
feat: add use image transport argument
Owen-Liuyuxuan Dec 11, 2024
343ce4c
Merge branch 'spinnaker_remap' of https://github.com/tier4/aip_launch…
Owen-Liuyuxuan Dec 11, 2024
3860578
ci(pre-commit): autofix
pre-commit-ci[bot] Dec 11, 2024
9e0ffaf
fix typo
Owen-Liuyuxuan Dec 11, 2024
aec9470
Merge branch 'spinnaker_remap' of https://github.com/tier4/aip_launch…
Owen-Liuyuxuan Dec 11, 2024
d994c31
merge faield
Owen-Liuyuxuan Dec 11, 2024
7ab83e8
ci(pre-commit): autofix
pre-commit-ci[bot] Dec 11, 2024
849f2fe
also remap the compressed topic
Owen-Liuyuxuan Dec 11, 2024
db778fa
ci(pre-commit): autofix
pre-commit-ci[bot] Dec 11, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
28 changes: 26 additions & 2 deletions common_sensor_launch/launch/spinnaker.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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"],
),
],
Expand All @@ -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")}],
),
Expand Down Expand Up @@ -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",
Expand Down
Loading