Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Initial addition of Blackfly #19

Merged
merged 2 commits into from
Oct 3, 2023
Merged

Initial addition of Blackfly #19

Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
df673f9
Initial addition of Blackfly
hilary-luo Sep 29, 2023
0a7ed7b
Directly call the base camera launch
hilary-luo Sep 29, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 10 additions & 1 deletion clearpath_generator_gz/clearpath_generator_gz/launch/sensors.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
from clearpath_config.sensors.types.sensor import BaseSensor
from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST, SickLMS1XX
from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, VelodyneLidar
from clearpath_config.sensors.types.cameras import BaseCamera, IntelRealsense
from clearpath_config.sensors.types.cameras import BaseCamera, FlirBlackfly, IntelRealsense
from clearpath_config.sensors.types.imu import BaseIMU, Microstrain, CHRoboticsUM6, RedshiftUM7
from clearpath_config.sensors.types.gps import (BaseGPS, SwiftNavDuro, Garmin18x, NovatelSmart6,
NovatelSmart7)
Expand Down Expand Up @@ -205,6 +205,14 @@ def __init__(self,
self.get_gz_bridge_remap('image', sensor.name + '/color/image'),
]

class FlirBlackflyLaunch(CameraLaunch):
def __init__(self,
sensor: FlirBlackfly,
namespace: str,
launch_path: str,
param_path: str) -> None:
super().__init__(sensor, namespace, launch_path, param_path)

class IntelRealsenseLaunch(CameraLaunch):
def __init__(self,
sensor: IntelRealsense,
Expand Down Expand Up @@ -256,6 +264,7 @@ def __init__(self,
MODEL = {
HokuyoUST.SENSOR_MODEL: Lidar2dLaunch,
SickLMS1XX.SENSOR_MODEL: Lidar2dLaunch,
FlirBlackfly.SENSOR_MODEL: FlirBlackflyLaunch,
IntelRealsense.SENSOR_MODEL: IntelRealsenseLaunch,
CHRoboticsUM6.SENSOR_MODEL: ImuLaunch,
Microstrain.SENSOR_MODEL: ImuLaunch,
Expand Down