add initial launch and config files

rae_camera/config/spectacular.yaml

@@ -0,0 +1,22 @@
+/rae:
+  ros__parameters:
+    camera:
+      i_enable_imu: true
+      i_enable_ir: false
+      i_floodlight_brightness: 0
+      i_pipeline_type: depth
+      i_usb_speed: SUPER_PLUS
+      i_nn_type: none
+    left:
+      i_fps: 30.0
+      i_resolution: '800P'
+      i_sensor_img_orientation: AUTO
+    right:
+      i_fps: 30.0
+      i_resolution: '800P'
+    stereo:
+      i_align_depth: true
+      i_board_socket_id: 2
+      i_subpixel: true
+      i_publish_synced_rect_pair: true
+      i_right_rect_enable_feature_tracker: true

rae_camera/launch/spectacular.launch.py

@@ -0,0 +1,96 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer, Node
+from launch.conditions import IfCondition
+from launch_ros.descriptions import ComposableNode
+
+
+def launch_setup(context, *args, **kwargs):
+
+    params_file = LaunchConfiguration("params_file")
+    name = LaunchConfiguration('name').perform(context)
+    parent_frame = LaunchConfiguration('parent_frame',  default = 'oak-d-base-frame')
+    urdf_launch_dir = os.path.join(get_package_share_directory('depthai_descriptions'), 'launch')
+    depthai_prefix = get_package_share_directory("depthai_ros_driver")
+    return [
+            Node(
+                condition=IfCondition(LaunchConfiguration("use_rviz").perform(context)),
+                package="rviz2",
+                executable="rviz2",
+                name="rviz2",
+                output="log",
+                arguments=["-d", LaunchConfiguration("rviz_config")],
+            ),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(urdf_launch_dir, 'urdf_launch.py')),
+            launch_arguments={'tf_prefix': name,
+                              'base_frame': name,
+                              'parent_frame': parent_frame,
+                              'use_composition': 'true',
+                              'use_base_descr': 'true'}.items()),
+
+        ComposableNodeContainer(
+            name=name+"_container",
+            namespace="",
+            package="rclcpp_components",
+            executable="component_container_mt",
+            composable_node_descriptions=[
+                ComposableNode(
+                    package="depthai_ros_driver",
+                    plugin="depthai_ros_driver::Camera",
+                    name=name,
+                    parameters=[params_file],
+                ),
+                ComposableNode(
+                    package='spectacularai_ros2',
+                    plugin='spectacularAI::ros2::Node',
+                    parameters=[
+                        {"imu_frame_id": name+"_imu_frame"},
+                        {"world_frame_id": "world"},
+                        {"cam0_frame_id": name+"_left_camera_optical_frame"},
+                        {"cam1_frame_id": name+"_right_camera_optical_frame"},
+                        {"depth_scale": 1.0/1000.0}, # Depth map values are multiplied with this to get distance in meters
+                        {"camera_input_type": "stereo_depth_features"},
+                        {"recording_folder": LaunchConfiguration('recording_folder').perform(context)},
+                        {"enable_mapping": True},
+                        {"enable_occupancy_grid": True},
+                    ],
+                    remappings=[
+                        ('input/imu', name + '/imu/data'),
+                        ('input/cam0/image_rect', name + '/right/image_rect'),
+                        ('input/cam1/image_rect', name + '/left/image_rect'),
+                        ('input/cam0/camera_info', name + '/right/camera_info'),
+                        ('input/cam1/camera_info', name + '/left/camera_info'),
+                        ('input/depth/image', name + '/stereo/image_raw'),
+                        ('input/cam0/features', name + '/right_rect_feature_tracker/tracked_features'),
+                    ]
+                )
+            ],
+            arguments=['--ros-args', '--log-level', 'info'],
+            output="both",
+        )
+    ]
+
+
+def generate_launch_description():
+    spectacular_prefix = get_package_share_directory("spectacularai_ros2")
+    declared_arguments = [
+        DeclareLaunchArgument("name", default_value="rae"),
+        DeclareLaunchArgument("use_rviz", default_value='false'),
+        DeclareLaunchArgument("recording_folder", default_value=""),
+        DeclareLaunchArgument("parent_frame", default_value="oak-d-base-frame"),
+        DeclareLaunchArgument("params_file", default_value=os.path.join(spectacular_prefix, 'launch', 'oak_d.yaml')),
+        DeclareLaunchArgument("rviz_config", default_value=os.path.join(spectacular_prefix, 'launch', 'oak_d.rviz')),
+    ]
+    return LaunchDescription(
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
+    )
+
+
+