done

Signed-off-by: adrianCo <[email protected]>
jmguerreroh · Dec 12, 2024 · c7dd334 · c7dd334
1 parent a7891b6
commit c7dd334
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Showing 4 changed files with 2 additions and 65 deletions.
diff --git a/.gitignore b/.gitignore
diff --git a/launch/multicam.launch.py b/launch/multicam.launch.py
@@ -185,21 +185,6 @@ def generate_launch_description():
                         {'use_pointcloud': use_pointcloud},
                         {'pc_color': pc_color}])
 
-    point_cloud_color1 = launch_ros.descriptions.ComposableNode(
-                    package='depth_image_proc',
-                    plugin='depth_image_proc::PointCloudXyzrgbNode',
-                    name='point_cloud_xyzrgb_node',
-                    remappings=[('depth_registered/image_rect', '/c1/stereo/depth'),
-                                ('rgb/image_rect_color', 'c1/rgb/image'),
-                                ('rgb/camera_info', 'c1/rgb/camera_info'),
-                                ('points', 'c1/stereo/points')],
-                    condition=IfCondition(
-                        PythonExpression(
-                            ["'", use_depth, "' == 'True' and '", use_pointcloud, "' == 'True' and '", pc_color, "' == 'True' and '", only_rgb, "' == 'False'"]
-                        )
-                    )
-                )
-
     point_cloud_intensity1 = launch_ros.descriptions.ComposableNode(
                 package='depth_image_proc',
                 plugin='depth_image_proc::PointCloudXyziNode',
@@ -222,7 +207,6 @@ def generate_launch_description():
                 executable='component_container',
                 composable_node_descriptions=[
                     # Driver itself
-                    point_cloud_color1,
                     point_cloud_intensity1,
                 ],
                 output='screen',)
@@ -260,21 +244,6 @@ def generate_launch_description():
                         {'use_pointcloud': use_pointcloud},
                         {'pc_color': pc_color}])
 
-    point_cloud_color2 = launch_ros.descriptions.ComposableNode(
-                    package='depth_image_proc',
-                    plugin='depth_image_proc::PointCloudXyzrgbNode',
-                    name='point_cloud_xyzrgb_node',
-                    remappings=[('depth_registered/image_rect', 'c2/stereo/depth'),
-                                ('rgb/image_rect_color', 'c2/rgb/image'),
-                                ('rgb/camera_info', 'c2/rgb/camera_info'),
-                                ('points', 'c2/stereo/points')],
-                    condition=IfCondition(
-                        PythonExpression(
-                            ["'", use_depth, "' == 'True' and '", use_pointcloud, "' == 'True' and '", pc_color, "' == 'True' and '", only_rgb, "' == 'False'"]
-                        )
-                    )
-                )
-
     point_cloud_intensity2 = launch_ros.descriptions.ComposableNode(
                 package='depth_image_proc',
                 plugin='depth_image_proc::PointCloudXyziNode',
@@ -297,7 +266,6 @@ def generate_launch_description():
                 executable='component_container',
                 composable_node_descriptions=[
                     # Driver itself
-                    point_cloud_color2,
                     point_cloud_intensity2,
                 ],
                 output='screen',)
@@ -335,21 +303,6 @@ def generate_launch_description():
                         {'use_pointcloud': use_pointcloud},
                         {'pc_color': pc_color}])
 
-    point_cloud_color3 = launch_ros.descriptions.ComposableNode(
-                    package='depth_image_proc',
-                    plugin='depth_image_proc::PointCloudXyzrgbNode',
-                    name='point_cloud_xyzrgb_node',
-                    remappings=[('depth_registered/image_rect', 'c3/stereo/depth'),
-                                ('rgb/image_rect_color', 'c3/rgb/image'),
-                                ('rgb/camera_info', 'c3/rgb/camera_info'),
-                                ('points', 'c3/stereo/points')],
-                    condition=IfCondition(
-                        PythonExpression(
-                            ["'", use_depth, "' == 'True' and '", use_pointcloud, "' == 'True' and '", pc_color, "' == 'True' and '", only_rgb, "' == 'False'"]
-                        )
-                    )
-                )
-
     point_cloud_intensity3 = launch_ros.descriptions.ComposableNode(
                 package='depth_image_proc',
                 plugin='depth_image_proc::PointCloudXyziNode',
@@ -372,7 +325,6 @@ def generate_launch_description():
                 executable='component_container',
                 composable_node_descriptions=[
                     # Driver itself
-                    point_cloud_color3,
                     point_cloud_intensity3,
                 ],
                 output='screen',)
@@ -410,21 +362,6 @@ def generate_launch_description():
                         {'use_pointcloud': use_pointcloud},
                         {'pc_color': pc_color}])
 
-    point_cloud_color4 = launch_ros.descriptions.ComposableNode(
-                    package='depth_image_proc',
-                    plugin='depth_image_proc::PointCloudXyzrgbNode',
-                    name='point_cloud_xyzrgb_node',
-                    remappings=[('depth_registered/image_rect', 'c4/stereo/depth'),
-                                ('rgb/image_rect_color', 'c4/rgb/image'),
-                                ('rgb/camera_info', 'c4/rgb/camera_info'),
-                                ('points', 'c4/stereo/points')],
-                    condition=IfCondition(
-                        PythonExpression(
-                            ["'", use_depth, "' == 'True' and '", use_pointcloud, "' == 'True' and '", pc_color, "' == 'True' and '", only_rgb, "' == 'False'"]
-                        )
-                    )
-                )
-
     point_cloud_intensity4 = launch_ros.descriptions.ComposableNode(
                 package='depth_image_proc',
                 plugin='depth_image_proc::PointCloudXyziNode',
@@ -447,7 +384,6 @@ def generate_launch_description():
                 executable='component_container',
                 composable_node_descriptions=[
                     # Driver itself
-                    point_cloud_color4,
                     point_cloud_intensity4,
                 ],
                 output='screen',)

diff --git a/rviz/rgbd_stereo_pcl.rviz b/rviz/rgbd_stereo_pcl.rviz
@@ -248,4 +248,5 @@ Window Geometry:
   left_rect:
     collapsed: false
   right_rect:
+
     collapsed: false
diff --git a/src/rgbd_stereo_publisher.cpp b/src/rgbd_stereo_publisher.cpp
@@ -421,4 +421,5 @@ int main(int argc, char ** argv)
   rclcpp::shutdown();
 
   return 0;
+
 }
Original file line number	Diff line number	Diff line change
Expand Up		@@ -421,4 +421,5 @@ int main(int argc, char ** argv)
		rclcpp::shutdown();

		return 0;

		}