#!/usr/bin/python3
# Copyright 2022 RoboMaster-OSS
#
# 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.

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():

    param_path = os.path.join(
        get_package_share_directory('rmoss_mindvision_driver'),
        'config/cam_param.yaml')

    mv_cam_node = Node(
        package='rmoss_mindvision_driver',
        executable='mindvision_cam',
        name='mindvision_camera',
        parameters=[param_path],
        output='screen'
    )

    ld = LaunchDescription()
    ld.add_action(mv_cam_node)

    return ld

#!/usr/bin/python3
# Copyright 2022 RoboMaster-OSS
#
# 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.

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():

    param_path = os.path.join(
        get_package_share_directory('rmoss_mindvision_driver'),
        'config/cam_param.yaml')

    mv_cam_node = Node(
        package='rmoss_mindvision_driver',
        executable='mindvision_cam',
        name='mindvision_camera',
        parameters=[param_path],
        output='screen'
    )

    ld = LaunchDescription()
    ld.add_action(mv_cam_node)

    return ld

#!/usr/bin/python3 # Copyright 2022 RoboMaster-OSS # # 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.