camera_readerのparameter設定

device/camera_reader/camera_reader/camera.py

@@ -11,7 +11,12 @@ def __init__(self):
         super().__init__("camera")
         self.publisher_ = self.create_publisher(Image, "camera_image", 10)
         self.timer = self.create_timer(0.01, self.timer_callback)
-        self.cap = cv2.VideoCapture(0)
+        param = self.declare_parameter("camera_id", 0)
+        camera_id = (
+            self.get_parameter_or(param.name, param).get_parameter_value().integer_value
+        )
+        assert isinstance(camera_id, int)
+        self.cap = cv2.VideoCapture(camera_id)
         self.bridge = CvBridge()
         if not self.cap.isOpened():
             self.get_logger().error("Failed to open camera")

device/camera_reader/config/default_param.yml

@@ -0,0 +1,3 @@
+/*:
+  ros__parameters:
+    camera_id: 0

device/camera_reader/launch/camera_reader_launch.py

@@ -1,14 +1,23 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    config = os.path.join(
+        get_package_share_directory("camera_reader"),
+        "config",
+        "default_param.yml",
+    )
     return LaunchDescription(
         [
             Node(
                 package="camera_reader",
                 executable="camera",
                 namespace="device",
+                parameters=[config],
                 remappings=[("/device/camera_image", "/packet/camera_image")],
             ),
         ],

device/camera_reader/setup.py

@@ -16,6 +16,10 @@
             os.path.join("share", package_name, "launch"),
             glob(os.path.join("launch", "*")),
         ),
+        (
+            os.path.join("share", package_name, "config"),
+            glob(os.path.join("config", "*")),
+        ),
     ],
     install_requires=["setuptools"],
     zip_safe=True,