diff --git a/clearpath_offboard_sensors/launch/image_compressed_to_raw.launch.py b/clearpath_offboard_sensors/launch/image_compressed_to_raw.launch.py new file mode 100644 index 0000000..9e644a3 --- /dev/null +++ b/clearpath_offboard_sensors/launch/image_compressed_to_raw.launch.py @@ -0,0 +1,71 @@ +# Software License Agreement (BSD) +# +# @author Roni Kreinin +# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + namespace = LaunchConfiguration('namespace') + in_compressed = LaunchConfiguration('in_compressed') + out_raw = LaunchConfiguration('out_raw') + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='' + ) + + arg_in_compressed = DeclareLaunchArgument( + 'in_compressed', + default_value='compressed' + ) + + arg_out_raw = DeclareLaunchArgument( + 'out_raw', + default_value='image' + ) + + compressed_transport_node = Node( + name='image_compressed_to_raw', + namespace=namespace, + package='image_transport', + executable='republish', + remappings=[ + ('in/compressed', in_compressed), + ('out', out_raw), + ], + arguments=['compressed', 'raw'], + ) + + ld = LaunchDescription() + ld.add_action(arg_namespace) + ld.add_action(arg_in_compressed) + ld.add_action(arg_out_raw) + ld.add_action(compressed_transport_node) + return ld diff --git a/clearpath_offboard_sensors/launch/image_ffmpeg_to_raw.launch.py b/clearpath_offboard_sensors/launch/image_ffmpeg_to_raw.launch.py new file mode 100644 index 0000000..32eb9b6 --- /dev/null +++ b/clearpath_offboard_sensors/launch/image_ffmpeg_to_raw.launch.py @@ -0,0 +1,72 @@ +# Software License Agreement (BSD) +# +# @author Hilary Luo +# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + namespace = LaunchConfiguration('namespace') + in_ffmpeg = LaunchConfiguration('in_ffmpeg') + out_raw = LaunchConfiguration('out_raw') + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='' + ) + + arg_in_ffmpeg = DeclareLaunchArgument( + 'in_ffmpeg', + default_value='ffmpeg' + ) + + arg_out_raw = DeclareLaunchArgument( + 'out_raw', + default_value='image' + ) + + ffmpeg_transport_node = Node( + name='image_ffmpeg_to_raw', + namespace=namespace, + package='image_transport', + executable='republish', + remappings=[ + ('in/ffmpeg', in_ffmpeg), + ('out', out_raw), + ], + arguments=['ffmpeg', 'raw'], + ) + + ld = LaunchDescription() + ld.add_action(arg_namespace) + ld.add_action(arg_in_ffmpeg) + ld.add_action(arg_out_raw) + ld.add_action(ffmpeg_transport_node) + return ld diff --git a/clearpath_offboard_sensors/launch/image_raw_to_compressed.launch.py b/clearpath_offboard_sensors/launch/image_raw_to_compressed.launch.py new file mode 100644 index 0000000..f3bd0c1 --- /dev/null +++ b/clearpath_offboard_sensors/launch/image_raw_to_compressed.launch.py @@ -0,0 +1,71 @@ +# Software License Agreement (BSD) +# +# @author Roni Kreinin +# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + namespace = LaunchConfiguration('namespace') + in_raw = LaunchConfiguration('in_raw') + out_compressed = LaunchConfiguration('out_compressed') + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='' + ) + + arg_in_raw = DeclareLaunchArgument( + 'in_raw', + default_value='image' + ) + + arg_out_compressed = DeclareLaunchArgument( + 'out_compressed', + default_value='compressed' + ) + + compressed_transport_node = Node( + name='image_raw_to_compressed', + namespace=namespace, + package='image_transport', + executable='republish', + remappings=[ + ('in', in_raw), + ('out/compressed', out_compressed), + ], + arguments=['raw', 'compressed'], + ) + + ld = LaunchDescription() + ld.add_action(arg_namespace) + ld.add_action(arg_in_raw) + ld.add_action(arg_out_compressed) + ld.add_action(compressed_transport_node) + return ld diff --git a/clearpath_offboard_sensors/launch/image_raw_to_ffmpeg.launch.py b/clearpath_offboard_sensors/launch/image_raw_to_ffmpeg.launch.py new file mode 100644 index 0000000..6e7687f --- /dev/null +++ b/clearpath_offboard_sensors/launch/image_raw_to_ffmpeg.launch.py @@ -0,0 +1,74 @@ +# Software License Agreement (BSD) +# +# @author Hilary Luo +# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +ARGUMENTS = [ + DeclareLaunchArgument('namespace', default_value=''), + DeclareLaunchArgument('in_raw', default_value='image'), + DeclareLaunchArgument('out_ffmpeg', default_value='ffmpeg'), + DeclareLaunchArgument('encoding', default_value='libx264'), + DeclareLaunchArgument('qmax', default_value='40'), + DeclareLaunchArgument('preset', default_value='superfast'), + DeclareLaunchArgument('tune', default_value='zerolatency'), + DeclareLaunchArgument('bit_rate', default_value='1000000'), + DeclareLaunchArgument('gop_size', default_value='15'), +] + + +def generate_launch_description(): + namespace = LaunchConfiguration('namespace') + in_raw = LaunchConfiguration('in_raw') + out_ffmpeg = LaunchConfiguration('out_ffmpeg') + + ffmpeg_transport_node = Node( + name='image_raw_to_ffmpeg', + namespace=namespace, + package='image_transport', + executable='republish', + remappings=[ + ('in', in_raw), + ('out/ffmpeg', out_ffmpeg), + ], + arguments=['raw', 'ffmpeg'], + parameters=[ + {'ffmpeg_image_transport.encoding': LaunchConfiguration('encoding')}, + {'ffmpeg_image_transport.qmax': LaunchConfiguration('qmax')}, + {'ffmpeg_image_transport.preset': LaunchConfiguration('preset')}, + {'ffmpeg_image_transport.tune': LaunchConfiguration('tune')}, + {'ffmpeg_image_transport.bit_rate': LaunchConfiguration('bit_rate')}, + {'ffmpeg_image_transport.gop_size': LaunchConfiguration('gop_size')}], + ) + + ld = LaunchDescription(ARGUMENTS) + ld.add_action(ffmpeg_transport_node) + return ld diff --git a/clearpath_offboard_sensors/launch/image_raw_to_theora.launch.py b/clearpath_offboard_sensors/launch/image_raw_to_theora.launch.py new file mode 100644 index 0000000..9c0a18d --- /dev/null +++ b/clearpath_offboard_sensors/launch/image_raw_to_theora.launch.py @@ -0,0 +1,71 @@ +# Software License Agreement (BSD) +# +# @author Roni Kreinin +# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + namespace = LaunchConfiguration('namespace') + in_raw = LaunchConfiguration('in_raw') + out_theora = LaunchConfiguration('out_theora') + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='' + ) + + arg_in_raw = DeclareLaunchArgument( + 'in_raw', + default_value='image' + ) + + arg_out_theora = DeclareLaunchArgument( + 'out_theora', + default_value='theora' + ) + + theora_transport_node = Node( + name='image_raw_to_theora', + namespace=namespace, + package='image_transport', + executable='republish', + remappings=[ + ('in', in_raw), + ('out/theora', out_theora), + ], + arguments=['raw', 'theora'], + ) + + ld = LaunchDescription() + ld.add_action(arg_namespace) + ld.add_action(arg_in_raw) + ld.add_action(arg_out_theora) + ld.add_action(theora_transport_node) + return ld diff --git a/clearpath_offboard_sensors/launch/image_theora_to_raw.launch.py b/clearpath_offboard_sensors/launch/image_theora_to_raw.launch.py new file mode 100644 index 0000000..dc181fb --- /dev/null +++ b/clearpath_offboard_sensors/launch/image_theora_to_raw.launch.py @@ -0,0 +1,71 @@ +# Software License Agreement (BSD) +# +# @author Roni Kreinin +# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Clearpath Robotics nor the names of its contributors +# may be used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + namespace = LaunchConfiguration('namespace') + in_theora = LaunchConfiguration('in_theora') + out_raw = LaunchConfiguration('out_raw') + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='' + ) + + arg_in_theora = DeclareLaunchArgument( + 'in_theora', + default_value='theora' + ) + + arg_out_raw = DeclareLaunchArgument( + 'out_raw', + default_value='image' + ) + + theora_transport_node = Node( + name='image_theora_to_raw', + namespace=namespace, + package='image_transport', + executable='republish', + remappings=[ + ('in/theora', in_theora), + ('out', out_raw), + ], + arguments=['theora', 'raw'], + ) + + ld = LaunchDescription() + ld.add_action(arg_namespace) + ld.add_action(arg_in_theora) + ld.add_action(arg_out_raw) + ld.add_action(theora_transport_node) + return ld