New launch file for multiple ffmpeg decoders plus the display

turtlebot4_vision_tutorials/launch/pose_display.launch.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 Clearpath Robotics, 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.
+#
+# @author Hilary Luo ([email protected])
+
+from launch import LaunchDescription
+from launch.actions.declare_launch_argument import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    namespaces = ['tb21', 'tb10']
+    # namespaces = LaunchConfiguration('namespaces')
+
+    # arg_namespaces = DeclareLaunchArgument(
+    #     'namespaces',
+    #     default_value='[tb10, tb11]')
+
+    ffmpeg_nodes = []
+
+    for i, ns in enumerate(namespaces):
+        ffmpeg_nodes.append(
+            Node(
+                package='image_transport',
+                executable='republish',
+                name=f'ffmpeg_decoder{i}',
+                remappings=[
+                    ('in/ffmpeg', f'/{ns}/oakd/rgb/preview/encoded/ffmpeg'),
+                    ('out', f'/{ns}/oakd/rgb/preview/ffmpeg_decoded')],
+                arguments=['ffmpeg', 'raw'],
+            )
+        )
+
+    display_node = Node(
+        package='turtlebot4_vision_tutorials',
+        executable='pose_display',
+        name='pose_display',
+        parameters=[{'namespaces': namespaces}],
+
+    )
+
+    ld = LaunchDescription()
+    # ld.add_action(arg_namespaces)
+    for n in ffmpeg_nodes:
+        ld.add_action(n)
+    ld.add_action(display_node)
+
+    return ld