参考Error with Pytorch and Torchvision中回复的消息，可以使用Python官方的virtualenv创建环境（这个虚拟环境类似Conda，但更轻量），好处在于安装的Pytorch所需的numpy等包不会和root下ROS相关的包冲突，并且由于是从root中Python生成的环境，因此可以使用root下的包（也就是ROS包）
# Copyright 2023 Intel Corporation. All Rights Reserved.## 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."""Launch realsense2_camera node."""import os
import yaml
from launch import LaunchDescription
import launch_ros.actions
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration
from ament_index_python.packages import get_package_share_directory
from pathlib import Path
configurable_parameters =[{'name':'camera_name','default':'camera','description':'camera unique name'},{'name':'camera_namespace','default':'camera','description':'namespace for camera'},{'name':'serial_no','default':"''",'description':'choose device by serial number'},{'name':'usb_port_id','default':"''",'description':'choose device by usb port id'},{'name':'device_type','default':"''",'description':'choose device by type'},# {'name': 'config_file', 'default': "''", 'description': 'yaml config file'},{'name':'config_file','default':str(Path(get_package_share_directory('my_rs_launch'))/"config/rs_camera.yaml"),'description':'yaml config file'},{'name':'json_file_path','default':"''",'description':'allows advanced configuration'},{'name':'initial_reset','default':'false','description':"''"},{'name':'accelerate_gpu_with_glsl','default':"false",'description':'enable GPU acceleration with GLSL'},{'name':'rosbag_filename','default':"''",'description':'A realsense bagfile to run from as a device'},{'name':'log_level','default':'info','description':'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},{'name':'output','default':'screen','description':'pipe node output [screen|log]'},{'name':'enable_color','default':'true','description':'enable color stream'},{'name':'rgb_camera.color_profile','default':'0,0,0','description':'color stream profile'},{'name':'rgb_camera.color_format','default':'RGB8','description':'color stream format'},{'name':'rgb_camera.enable_auto_exposure','default':'true','description':'enable/disable auto exposure for color image'},{'name':'enable_depth','default':'true','description':'enable depth stream'},{'name':'enable_infra','default':'false','description':'enable infra0 stream'},{'name':'enable_infra1','default':'false','description':'enable infra1 stream'},{'name':'enable_infra2','default':'false','description':'enable infra2 stream'},{'name':'depth_module.depth_profile','default':'0,0,0','description':'depth stream profile'},{'name':'depth_module.depth_format','default':'Z16','description':'depth stream format'},{'name':'depth_module.infra_profile','default':'0,0,0','description':'infra streams (0/1/2) profile'},{'name':'depth_module.infra_format','default':'RGB8','description':'infra0 stream format'},{'name':'depth_module.infra1_format','default':'Y8','description':'infra1 stream format'},{'name':'depth_module.infra2_format','default':'Y8','description':'infra2 stream format'},{'name':'depth_module.exposure','default':'8500','description':'Depth module manual exposure value'},{'name':'depth_module.gain','default':'16','description':'Depth module manual gain value'},{'name':'depth_module.hdr_enabled','default':'false','description':'Depth module hdr enablement flag. Used for hdr_merge filter'},{'name':'depth_module.enable_auto_exposure','default':'true','description':'enable/disable auto exposure for depth image'},{'name':'depth_module.exposure.1','default':'7500','description':'Depth module first exposure value. Used for hdr_merge filter'},{'name':'depth_module.gain.1','default':'16','description':'Depth module first gain value. Used for hdr_merge filter'},{'name':'depth_module.exposure.2','default':'1','description':'Depth module second exposure value. Used for hdr_merge filter'},{'name':'depth_module.gain.2','default':'16','description':'Depth module second gain value. Used for hdr_merge filter'},{'name':'enable_sync','default':'false','description':"'enable sync mode'"},{'name':'enable_rgbd','default':'false','description':"'enable rgbd topic'"},{'name':'enable_gyro','default':'false','description':"'enable gyro stream'"},{'name':'enable_accel','default':'false','description':"'enable accel stream'"},{'name':'gyro_fps','default':'0','description':"''"},{'name':'accel_fps','default':'0','description':"''"},{'name':'unite_imu_method','default':"0",'description':'[0-None, 1-copy, 2-linear_interpolation]'},{'name':'clip_distance','default':'-2.','description':"''"},{'name':'angular_velocity_cov','default':'0.01','description':"''"},{'name':'linear_accel_cov','default':'0.01','description':"''"},{'name':'diagnostics_period','default':'0.0','description':'Rate of publishing diagnostics. 0=Disabled'},{'name':'publish_tf','default':'true','description':'[bool] enable/disable publishing static & dynamic TF'},{'name':'tf_publish_rate','default':'0.0','description':'[double] rate in Hz for publishing dynamic TF'},{'name':'pointcloud.enable','default':'false','description':''},{'name':'pointcloud.stream_filter','default':'2','description':'texture stream for pointcloud'},{'name':'pointcloud.stream_index_filter','default':'0','description':'texture stream index for pointcloud'},{'name':'pointcloud.ordered_pc','default':'false','description':''},{'name':'pointcloud.allow_no_texture_points','default':'false','description':"''"},{'name':'align_depth.enable','default':'false','description':'enable align depth filter'},{'name':'colorizer.enable','default':'false','description':'enable colorizer filter'},{'name':'decimation_filter.enable','default':'false','description':'enable_decimation_filter'},{'name':'spatial_filter.enable','default':'false','description':'enable_spatial_filter'},{'name':'temporal_filter.enable','default':'false','description':'enable_temporal_filter'},{'name':'disparity_filter.enable','default':'false','description':'enable_disparity_filter'},{'name':'hole_filling_filter.enable','default':'false','description':'enable_hole_filling_filter'},{'name':'hdr_merge.enable','default':'false','description':'hdr_merge filter enablement flag'},{'name':'wait_for_device_timeout','default':'-1.','description':'Timeout for waiting for device to connect (Seconds)'},{'name':'reconnect_timeout','default':'6.','description':'Timeout(seconds) between consequtive reconnection attempts'},]defdeclare_configurable_parameters(parameters):return[DeclareLaunchArgument(param['name'], default_value=param['default'], description=param['description'])for param in parameters]defset_configurable_parameters(parameters):returndict([(param['name'], LaunchConfiguration(param['name']))for param in parameters])defyaml_to_dict(path_to_yaml):withopen(path_to_yaml,"r")as f:return yaml.load(f, Loader=yaml.SafeLoader)deflaunch_setup(context, params, param_name_suffix=''):
_config_file = LaunchConfiguration('config_file'+ param_name_suffix).perform(context)
params_from_file ={}if _config_file =="''"else yaml_to_dict(_config_file)
_output = LaunchConfiguration('output'+ param_name_suffix)if(os.getenv('ROS_DISTRO')=='foxy'):# Foxy doesn't support output as substitution object (LaunchConfiguration object)# but supports it as string, so we fetch the string from this substitution object# see related PR that was merged for humble, iron, rolling: https://github.com/ros2/launch/pull/577
_output = context.perform_substitution(_output)return[
launch_ros.actions.Node(
package='realsense2_camera',
namespace=LaunchConfiguration('camera_namespace'+ param_name_suffix),
name=LaunchConfiguration('camera_name'+ param_name_suffix),
executable='realsense2_camera_node',
parameters=[params, params_from_file],
output=_output,
arguments=['--ros-args','--log-level', LaunchConfiguration('log_level'+ param_name_suffix)],
emulate_tty=True,)]defgenerate_launch_description():return LaunchDescription(declare_configurable_parameters(configurable_parameters)+[
OpaqueFunction(function=launch_setup, kwargs ={'params': set_configurable_parameters(configurable_parameters)})])
