From 2f572a0632e95f0076332ecd846fd476cf3d80e8 Mon Sep 17 00:00:00 2001 From: YuxuanLiuTier4Desktop <619684051@qq.com> Date: Tue, 10 Dec 2024 18:42:14 +0900 Subject: [PATCH 1/8] upgrade mapping solution Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> --- common_sensor_launch/launch/spinnaker.launch.py | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py index 3848b0db..411fcb12 100644 --- a/common_sensor_launch/launch/spinnaker.launch.py +++ b/common_sensor_launch/launch/spinnaker.launch.py @@ -39,7 +39,11 @@ 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"), @@ -48,7 +52,11 @@ def load_composable_node_param(param_path): ], ), ( - "camera0/camera_info", + [ + "camera", + LaunchConfiguration("camera_id"), + "/camera_info", + ], ["camera", LaunchConfiguration("camera_id"), "/camera_info"], ), ], From 0acd96dbbd6c5a058338a853ef6f12d4c5a9787a Mon Sep 17 00:00:00 2001 From: YuxuanLiuTier4Desktop <619684051@qq.com> Date: Wed, 11 Dec 2024 11:48:31 +0900 Subject: [PATCH 2/8] feat: add use image transport argument Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> --- common_sensor_launch/launch/spinnaker.launch.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py index 411fcb12..06a0aae5 100644 --- a/common_sensor_launch/launch/spinnaker.launch.py +++ b/common_sensor_launch/launch/spinnaker.launch.py @@ -67,6 +67,9 @@ def load_composable_node_param(param_path): "camera_info_url" ), }, + { + "use_image_tranport": LaunchConfiguration("use_image_tranport") + } ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), @@ -106,6 +109,7 @@ 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_tranport", "True") add_launch_arg("use_intra_process", "True") set_camera_info_url_key = SetLaunchConfiguration( "camera_info_url_key", From 38605787025d7a216b4e669674a0b8e21d58623b Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 11 Dec 2024 02:48:51 +0000 Subject: [PATCH 3/8] ci(pre-commit): autofix --- common_sensor_launch/launch/spinnaker.launch.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py index 06a0aae5..6126c746 100644 --- a/common_sensor_launch/launch/spinnaker.launch.py +++ b/common_sensor_launch/launch/spinnaker.launch.py @@ -67,9 +67,7 @@ def load_composable_node_param(param_path): "camera_info_url" ), }, - { - "use_image_tranport": LaunchConfiguration("use_image_tranport") - } + {"use_image_tranport": LaunchConfiguration("use_image_tranport")}, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), From 9e0ffaf6954c793b7c3dcdbed6c945811da02fbd Mon Sep 17 00:00:00 2001 From: YuxuanLiuTier4Desktop <619684051@qq.com> Date: Wed, 11 Dec 2024 11:50:43 +0900 Subject: [PATCH 4/8] fix typo Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> --- common_sensor_launch/launch/spinnaker.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py index 06a0aae5..3fafe623 100644 --- a/common_sensor_launch/launch/spinnaker.launch.py +++ b/common_sensor_launch/launch/spinnaker.launch.py @@ -68,7 +68,7 @@ def load_composable_node_param(param_path): ), }, { - "use_image_tranport": LaunchConfiguration("use_image_tranport") + "use_image_transport": LaunchConfiguration("use_image_transport") } ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], @@ -109,7 +109,7 @@ 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_tranport", "True") + add_launch_arg("use_image_transport", "True") add_launch_arg("use_intra_process", "True") set_camera_info_url_key = SetLaunchConfiguration( "camera_info_url_key", From d994c31de0672c4a66072eb93f88447e368b37d8 Mon Sep 17 00:00:00 2001 From: YuxuanLiuTier4Desktop <619684051@qq.com> Date: Wed, 11 Dec 2024 12:04:03 +0900 Subject: [PATCH 5/8] merge faield Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> --- common_sensor_launch/launch/spinnaker.launch.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py index ee047a36..3fafe623 100644 --- a/common_sensor_launch/launch/spinnaker.launch.py +++ b/common_sensor_launch/launch/spinnaker.launch.py @@ -67,13 +67,9 @@ def load_composable_node_param(param_path): "camera_info_url" ), }, -<<<<<<< HEAD { "use_image_transport": LaunchConfiguration("use_image_transport") } -======= - {"use_image_tranport": LaunchConfiguration("use_image_tranport")}, ->>>>>>> 38605787025d7a216b4e669674a0b8e21d58623b ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), From 7ab83e8323410306c5b52f0df9876717f50327e2 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 11 Dec 2024 03:04:16 +0000 Subject: [PATCH 6/8] ci(pre-commit): autofix --- common_sensor_launch/launch/spinnaker.launch.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py index 3fafe623..b7f489ba 100644 --- a/common_sensor_launch/launch/spinnaker.launch.py +++ b/common_sensor_launch/launch/spinnaker.launch.py @@ -67,9 +67,7 @@ def load_composable_node_param(param_path): "camera_info_url" ), }, - { - "use_image_transport": LaunchConfiguration("use_image_transport") - } + {"use_image_transport": LaunchConfiguration("use_image_transport")}, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), From 849f2feff7d6a35e033ac0958365273bf36d287d Mon Sep 17 00:00:00 2001 From: YuxuanLiuTier4Desktop <619684051@qq.com> Date: Wed, 11 Dec 2024 12:13:23 +0900 Subject: [PATCH 7/8] also remap the compressed topic Signed-off-by: YuxuanLiuTier4Desktop <619684051@qq.com> --- common_sensor_launch/launch/spinnaker.launch.py | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py index b7f489ba..f250a7e5 100644 --- a/common_sensor_launch/launch/spinnaker.launch.py +++ b/common_sensor_launch/launch/spinnaker.launch.py @@ -51,6 +51,20 @@ def load_composable_node_param(param_path): LaunchConfiguration("image_topic"), ], ), + ( + [ + "camera", + LaunchConfiguration("camera_id"), + "/image_raw/compressed", + ], + [ + "camera", + LaunchConfiguration("camera_id"), + "/", + LaunchConfiguration("image_topic"), + "/compressed" + ], + ), ( [ "camera", From db778fa9e56b5b4d3f8a4ccab27d1c076b6745d3 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 11 Dec 2024 03:13:33 +0000 Subject: [PATCH 8/8] ci(pre-commit): autofix --- common_sensor_launch/launch/spinnaker.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py index f250a7e5..22f48df2 100644 --- a/common_sensor_launch/launch/spinnaker.launch.py +++ b/common_sensor_launch/launch/spinnaker.launch.py @@ -62,7 +62,7 @@ def load_composable_node_param(param_path): LaunchConfiguration("camera_id"), "/", LaunchConfiguration("image_topic"), - "/compressed" + "/compressed", ], ), (