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Fix/image remaps (#257)
* Add remaps for additional image transports * Add missing mono remap
1 parent 510f4e5 commit 6b8452d

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5 files changed

+95
-54
lines changed

5 files changed

+95
-54
lines changed

‎clearpath_sensors/launch/axis_camera.launch.py

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -65,6 +65,11 @@ def generate_launch_description():
6565
output='screen',
6666
remappings=[
6767
('image_raw/compressed', 'color/image/compressed'),
68+
('image_raw/compressedDepth', 'color/image/compressedDepth'),
69+
('image_raw/theora', 'color/image/theora'),
70+
('image_raw/ffmpeg', 'color/image/ffmpeg'),
71+
('image_raw/zstd', 'color/image/zstd'),
72+
('image_raw/foxglove', 'color/image/foxglove'),
6873
('camera_info', 'color/camera_info'),
6974
('joint_states',
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PathJoinSubstitution(['/', robot_namespace, 'platform', 'joint_states'])),

‎clearpath_sensors/launch/flir_blackfly.launch.py

Lines changed: 35 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,15 @@
3232
from launch_ros.descriptions import ComposableNode
3333
from launch_ros.substitutions import FindPackageShare
3434

35+
TRANSPORTS = [
36+
'compressed',
37+
'compressedDepth',
38+
'theora',
39+
'ffmpeg',
40+
'zstd',
41+
'foxglove',
42+
]
43+
3544

3645
def generate_launch_description():
3746
parameters = LaunchConfiguration('parameters')
@@ -60,23 +69,38 @@ def generate_launch_description():
6069

6170
name = 'flir_blackfly'
6271

72+
driver_remappings = [
73+
(f'{name}/camera_info', 'raw/camera_info'),
74+
(f'{name}/control', 'control'),
75+
(f'{name}/meta', 'meta'),
76+
(f'{name}/image_raw', 'raw/image'),
77+
]
78+
79+
for transport in TRANSPORTS:
80+
driver_remappings.append(
81+
(f'{name}/image_raw/{transport}', f'raw/{transport}')
82+
)
83+
84+
image_proc_remappings = [
85+
('image_raw', 'raw/image'),
86+
('image_color', 'color/image'),
87+
('image_mono', 'mono/image'),
88+
]
89+
90+
for transport in TRANSPORTS:
91+
image_proc_remappings.extend([
92+
(f'image_color/{transport}', f'color/{transport}'),
93+
(f'image_mono/{transport}', f'mono/{transport}'),
94+
])
95+
6396
composable_nodes = [
6497
ComposableNode(
6598
package='spinnaker_camera_driver',
6699
plugin='spinnaker_camera_driver::CameraDriver',
67100
name=name,
68101
namespace=namespace,
69102
parameters=[parameters, {'parameter_file': param_mapping_file}],
70-
remappings=[
71-
(name + '/camera_info', 'raw/camera_info'),
72-
(name + '/control', 'control'),
73-
(name + '/meta', 'meta'),
74-
(name + '/image_raw', 'raw/image'),
75-
(name + '/image_raw/compressed', 'raw/compressed'),
76-
(name + '/image_raw/compressedDepth', 'raw/compressedDepth'),
77-
(name + '/image_raw/theora', 'raw/theora'),
78-
(name + '/image_raw/ffmpeg', 'raw/ffmpeg'),
79-
],
103+
remappings=driver_remappings,
80104
extra_arguments=[{'use_intra_process_comms': True}],
81105
),
82106
ComposableNode(
@@ -85,19 +109,7 @@ def generate_launch_description():
85109
name='image_debayer',
86110
namespace=namespace,
87111
parameters=[parameters],
88-
remappings=[
89-
('image_raw', 'raw/image'),
90-
('image_color', 'color/image'),
91-
('image_color/compressed', 'color/compressed'),
92-
('image_color/compressedDepth', 'color/compressedDepth'),
93-
('image_color/theora', 'color/theora'),
94-
('image_mono', 'mono/image'),
95-
('image_mono/compressed', 'mono/compressed'),
96-
('image_mono/compressedDepth', 'mono/compressedDepth'),
97-
('image_mono/theora', 'mono/theora'),
98-
('image_color/ffmpeg', 'color/ffmpeg'),
99-
('image_mono/ffmpeg', 'mono/ffmpeg'),
100-
],
112+
remappings=image_proc_remappings,
101113
extra_arguments=[{'use_intra_process_comms': True}],
102114
),
103115
ComposableNode(

‎clearpath_sensors/launch/intel_realsense.launch.py

Lines changed: 15 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -52,6 +52,15 @@
5252
'metadata',
5353
]
5454

55+
TRANSPORTS = [
56+
'compressed',
57+
'compressedDepth',
58+
'theora',
59+
'ffmpeg',
60+
'zstd',
61+
'foxglove',
62+
]
63+
5564
OTHERS = [
5665
'rgbd',
5766
'extrinsics/depth_to_color',
@@ -88,12 +97,13 @@ def generate_launch_description():
8897

8998
for camera in CAMERAS:
9099
for image in IMAGES:
91-
remappings.extend([
100+
remappings.append(
92101
(f'~/{camera}/{image}', f'{camera}/image'),
93-
(f'~/{camera}/{image}/compressed', f'{camera}/compressed'),
94-
(f'~/{camera}/{image}/compressedDepth', f'{camera}/compressedDepth'),
95-
(f'~/{camera}/{image}/theora', f'{camera}/theora'),
96-
])
102+
)
103+
for transport in TRANSPORTS:
104+
remappings.append(
105+
(f'~/{camera}/{image}/{transport}', f'{camera}/{transport}')
106+
)
97107
for topic in TOPICS:
98108
remappings.append(
99109
(f'~/{camera}/{topic}', f'{camera}/{topic}')

‎clearpath_sensors/launch/luxonis_oakd.launch.py

Lines changed: 26 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -35,41 +35,47 @@
3535
from launch_ros.descriptions import ComposableNode
3636
from launch_ros.substitutions import FindPackageShare
3737

38+
TRANSPORTS = [
39+
'compressed',
40+
'compressedDepth',
41+
'theora',
42+
'ffmpeg',
43+
'zstd',
44+
'foxglove',
45+
]
46+
3847

3948
def launch_setup(context):
4049
parameters = LaunchConfiguration('parameters')
4150
namespace = LaunchConfiguration('namespace')
4251

4352
name = os.path.basename(namespace.perform(context))
4453

45-
depthai_oakd_node = ComposableNode(
46-
package='depthai_ros_driver',
47-
name=name,
48-
namespace=namespace,
49-
plugin='depthai_ros_driver::Camera',
50-
parameters=[parameters],
51-
remappings=[
54+
remappings = [
5255
('~/imu/data', 'imu/data'),
5356
('~/nn/spatial_detections', 'nn/spatial_detections'),
5457
('~/rgb/camera_info', 'color/camera_info'),
5558
('~/rgb/image_raw', 'color/image'),
56-
('~/rgb/image_raw/compressed', 'color/compressed'),
57-
('~/rgb/image_raw/compressedDepth', 'color/compressedDepth'),
58-
('~/rgb/image_raw/ffmpeg', 'color/ffmpeg'),
59-
('~/rgb/image_raw/theora', 'color/theora'),
6059
('~/rgb/preview/image_raw', 'color/image'),
61-
('~/rgb/preview/image_raw/compressed', 'color/compressed'),
62-
('~/rgb/preview/image_raw/compressedDepth', 'color/compressedDepth'),
63-
('~/rgb/preview/image_raw/ffmpeg', 'color/ffmpeg'),
64-
('~/rgb/preview/image_raw/theora', 'color/theora'),
6560
('~/stereo/camera_info', 'stereo/camera_info'),
6661
('~/stereo/image_raw', 'stereo/image'),
67-
('~/stereo/image_raw/compressed', 'stereo/compressed'),
68-
('~/stereo/image_raw/compressedDepth', 'stereo/compressedDepth'),
69-
('~/stereo/image_raw/ffmpeg', 'stereo/ffmpeg'),
70-
('~/stereo/image_raw/theora', 'stereo/theora'),
7162
('/diagnostics', 'diagnostics'),
72-
],
63+
]
64+
65+
for transport in TRANSPORTS:
66+
remappings.extend([
67+
(f'~/rgb/image_raw/{transport}', f'color/{transport}'),
68+
(f'~/rgb/preview/image_raw/{transport}', f'color/{transport}'),
69+
(f'~/stereo/image_raw/{transport}', f'stereo/{transport}')
70+
])
71+
72+
depthai_oakd_node = ComposableNode(
73+
package='depthai_ros_driver',
74+
name=name,
75+
namespace=namespace,
76+
plugin='depthai_ros_driver::Camera',
77+
parameters=[parameters],
78+
remappings=remappings,
7379
extra_arguments=[{'use_intra_process_comms': True}],
7480
)
7581

‎clearpath_sensors/launch/stereolabs_zed.launch.py

Lines changed: 14 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -65,6 +65,15 @@
6565
('stereo_raw', 'stereo/raw')
6666
]
6767

68+
TRANSPORTS = [
69+
'compressed',
70+
'compressedDepth',
71+
'theora',
72+
'ffmpeg',
73+
'zstd',
74+
'foxglove',
75+
]
76+
6877
OTHERS = [
6978
'temperature/imu',
7079
'temperature/left',
@@ -129,13 +138,12 @@ def generate_launch_description():
129138
PathJoinSubstitution(['/', namespace, new, 'camera_info'])),
130139
('~/%s/%s' % (old, image),
131140
PathJoinSubstitution(['/', namespace, new, 'image'])),
132-
('~/%s/%s/compressed' % (old, image),
133-
PathJoinSubstitution(['/', namespace, new, 'compressed'])),
134-
('~/%s/%s/compressedDepth' % (old, image),
135-
PathJoinSubstitution(['/', namespace, new, 'compressedDepth'])),
136-
('~/%s/%s/theora' % (old, image),
137-
PathJoinSubstitution(['/', namespace, new, 'theora'])),
138141
])
142+
for transport in TRANSPORTS:
143+
remappings.append(
144+
('~/%s/%s/%s' % (old, image, transport),
145+
PathJoinSubstitution(['/', namespace, new, transport])),
146+
)
139147

140148
# Others
141149
for topic in OTHERS:

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