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Add realsense depth module exposure to d435i launchers #138

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Add realsense depth module exposure to d435i launchers #138

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1 change: 1 addition & 0 deletions stretch_core/launch/d435i_basic.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
{'name': 'depth_module.profile', 'default': '848x480x15', 'description': 'depth module profile'},
{'name': 'depth_module.depth_profile', 'default': '848x480x15', 'description': 'depth module profile'},
{'name': 'depth_module.infra_profile', 'default': '848x480x15', 'description': 'depth module profile'},
{'name': 'depth_module.exposure', 'default': '8500', 'description': 'depth module exposure'},
{'name': 'enable_depth', 'default': 'true', 'description': 'enable depth stream'},
{'name': 'rgb_camera.profile', 'default': '1280x720x15', 'description': 'color image width'},
{'name': 'rgb_camera.color_profile', 'default': '1280x720x15', 'description': 'color image width'},
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8 changes: 6 additions & 2 deletions stretch_core/launch/stretch_realsense.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
configurable_parameters = [{'name': 'resolution', 'default': 'high', 'description': 'resolution of the color/depth images low or high'},
{'name': 'publish_frustum_viz', 'default': 'false', 'description': 'whether to pub viz of camera frustums'},
{'name': 'publish_upright_img', 'default': 'true', 'description': 'whether to pub rotated upright color image'},
{'name': 'depth_module_exposure', 'default': '8500', 'description': 'depth module exposure'}
]

def declare_configurable_parameters(parameters):
Expand All @@ -20,19 +21,22 @@ def generate_launch_description():
publish_frustum_viz = LaunchConfiguration('publish_frustum_viz')
publish_upright_img = LaunchConfiguration('publish_upright_img')
resolution = LaunchConfiguration('resolution')
depth_module_exposure = LaunchConfiguration('depth_module_exposure')

d435i_high_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('stretch_core'), 'launch'),
'/d435i_high_resolution.launch.py']),
condition=LaunchConfigurationEquals('resolution', 'high')
condition=LaunchConfigurationEquals('resolution', 'high'),
launch_arguments={'depth_module.exposure': depth_module_exposure}.items()
)

d435i_low_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('stretch_core'), 'launch'),
'/d435i_low_resolution.launch.py']),
condition=LaunchConfigurationEquals('resolution', 'low')
condition=LaunchConfigurationEquals('resolution', 'low'),
launch_arguments={'depth_module.exposure': depth_module_exposure}.items()
)

d435i_configure = Node(
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