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feat(tier4_perception_launch): enable to use multi camera on traffic …
…light recognition (#8676) * main process Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix * add exception if input is invalid Signed-off-by: MasatoSaeki <[email protected]> --------- Signed-off-by: MasatoSaeki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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...ception_launch/launch/traffic_light_recognition/traffic_light_camera_info_relay.launch.py
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,72 @@ | ||
| # Copyright 2024 TIER IV, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
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| import launch | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.actions import GroupAction | ||
| from launch.actions import OpaqueFunction | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import Node | ||
| from launch_ros.actions import PushRosNamespace | ||
| import yaml | ||
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| def create_traffic_light_camera_info_relay(namespace): | ||
| relay_node = Node( | ||
| package="topic_tools", | ||
| executable="relay", | ||
| name="traffic_light_camera_info_relay", | ||
| arguments=[f"/sensing/camera/{namespace}/camera_info", "camera_info"], | ||
| ) | ||
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| group = GroupAction( | ||
| [ | ||
| PushRosNamespace(namespace), | ||
| relay_node, | ||
| ] | ||
| ) | ||
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| return group | ||
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| def launch_setup(context, *args, **kwargs): | ||
| # Load all camera namespaces | ||
| all_camera_namespaces = LaunchConfiguration("all_camera_namespaces").perform(context) | ||
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| # Convert string to list | ||
| all_camera_namespaces = yaml.load(all_camera_namespaces, Loader=yaml.FullLoader) | ||
| if not isinstance(all_camera_namespaces, list): | ||
| raise ValueError( | ||
| "all_camera_namespaces is not a list. You should declare it like `['camera6', 'camera7']`." | ||
| ) | ||
| if not all((isinstance(v, str) for v in all_camera_namespaces)): | ||
| raise ValueError( | ||
| "all_camera_namespaces is not a list of strings. You should declare it like `['camera6', 'camera7']`." | ||
| ) | ||
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| # Create containers for all cameras | ||
| traffic_light_recognition_containers = [ | ||
| create_traffic_light_camera_info_relay(namespace) for namespace in all_camera_namespaces | ||
| ] | ||
| return traffic_light_recognition_containers | ||
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| def generate_launch_description(): | ||
| return launch.LaunchDescription( | ||
| [ | ||
| DeclareLaunchArgument("all_camera_namespaces", description="camera namespace list"), | ||
| OpaqueFunction(function=launch_setup), | ||
| ] | ||
| ) |
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