arm_dev
7d22f777c8
现场 site.yaml、权重和编译产物仍不入库；模板只留占位符。 Co-authored-by: Cursor <cursoragent@cursor.com>
71 lines
2.6 KiB
Python
71 lines
2.6 KiB
Python
#!/usr/bin/env python3
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"""在当前机械臂的彩色话题上启动 hole_detect。"""
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from __future__ import annotations
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import os
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from pathlib import Path
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, LogInfo, OpaqueFunction
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def _ws_root() -> Path:
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for key in ("ROS2_WS", "SITE_ROS2_ROOT"):
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v = os.environ.get(key, "").strip()
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if v:
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return Path(v)
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return Path.home() / "ros2"
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def _setup(context, *args, **kwargs):
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root = _ws_root()
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backend = LaunchConfiguration("backend").perform(context) or os.environ.get("SITE_HOLE_BACKEND") or "two_stage"
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weights = LaunchConfiguration("weights").perform(context) or os.environ.get("SITE_HOLE_WEIGHTS") or ""
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cfg = LaunchConfiguration("config_file").perform(context) or os.environ.get("SITE_HOLE_CONFIG") or ""
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cam = os.environ.get("SITE_CAM_NAME") or "d405"
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preview = LaunchConfiguration("preview").perform(context).lower() in ("1", "true", "yes")
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if not cfg:
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if backend in ("two_stage", "hough_roi"):
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cfg = str(root / "src" / "arm_application" / "config" / "hole_detect.yaml")
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else:
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cfg = str(root / "src" / "arm_application" / "config" / "hole_insert.yaml")
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if not weights:
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if backend in ("two_stage", "hough_roi"):
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weights = os.environ.get("SITE_HOLE_WORKPIECE_WEIGHTS") or os.environ.get("SITE_YOLO_WEIGHTS") or ""
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else:
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weights = os.environ.get("SITE_HOLE_WEIGHTS") or str(root / "models" / "yolo" / "gongjian0929.onnx")
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return [
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LogInfo(msg=f"[hole_detect] cam={cam} backend={backend} weights={weights} cfg={cfg}"),
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Node(
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package="arm_application",
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executable="hole_detect",
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name="hole_detect",
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output="screen",
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parameters=[
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{
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"camera_source": cam,
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"weights": weights,
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"config_file": cfg,
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"backend": backend,
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"device": os.environ.get("SITE_YOLO_DEVICE") or "0",
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"preview": preview,
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}
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],
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),
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]
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def generate_launch_description() -> LaunchDescription:
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return LaunchDescription(
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[
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DeclareLaunchArgument("backend", default_value=""),
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DeclareLaunchArgument("weights", default_value=""),
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DeclareLaunchArgument("config_file", default_value=""),
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DeclareLaunchArgument("preview", default_value="false"),
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OpaqueFunction(function=_setup),
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]
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)
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