58 lines
1.8 KiB
Python
58 lines
1.8 KiB
Python
import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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# Get the package directory
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bringup_dir = get_package_share_directory("hik_camera_ros2_driver")
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params_file = LaunchConfiguration("params_file")
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log_level = LaunchConfiguration("log_level")
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# Create the launch configuration variables
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stdout_linebuf_envvar = SetEnvironmentVariable(
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"RCUTILS_LOGGING_BUFFERED_STREAM", "1"
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)
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colorized_output_envvar = SetEnvironmentVariable("RCUTILS_COLORIZED_OUTPUT", "1")
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# Declare the launch arguments
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declare_params_file_cmd = DeclareLaunchArgument(
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"params_file",
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default_value=os.path.join(bringup_dir, "config", "camera_params.yaml"),
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description="The joystick configuration file path",
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)
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declare_log_level_cmd = DeclareLaunchArgument(
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"log_level", default_value="info", description="log level"
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)
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start_hik_camera_cmd = Node(
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name="hik_camera_ros2_driver",
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package="hik_camera_ros2_driver",
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executable="hik_camera_ros2_driver_node",
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parameters=[params_file],
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arguments=["--ros-args", "--log-level", log_level],
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output="screen",
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)
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# Create the launch description and populate
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ld = LaunchDescription()
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# Set environment variables
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ld.add_action(stdout_linebuf_envvar)
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ld.add_action(colorized_output_envvar)
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# Declare the launch arguments
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ld.add_action(declare_params_file_cmd)
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ld.add_action(declare_log_level_cmd)
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# Add the actions to launch the nodes
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ld.add_action(start_hik_camera_cmd)
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return ld
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