Merge pull request #71 from christianrauch/optional_image_view

optional image view dependency
christianrauch · Dec 14, 2024 · 123aeee · 123aeee
2 parents 8246a01 + 5723c8e
commit 123aeee
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Showing 2 changed files with 34 additions and 22 deletions.
diff --git a/launch/camera.launch.py b/launch/camera.launch.py
@@ -1,3 +1,5 @@
+from ament_index_python.resources import has_resource
+
 from launch.actions import DeclareLaunchArgument
 from launch.launch_description import LaunchDescription
 from launch.substitutions import LaunchConfiguration
@@ -40,31 +42,40 @@ def generate_launch_description() -> LaunchDescription:
         description="pixel format"
     )
 
-    # composable nodes in single container
-    container = ComposableNodeContainer(
-        name='camera_container',
-        namespace='',
-        package='rclcpp_components',
-        executable='component_container',
-        composable_node_descriptions=[
-            ComposableNode(
-                package='camera_ros',
-                plugin='camera::CameraNode',
-                parameters=[{
-                    "camera": camera_param,
-                    "width": 640,
-                    "height": 480,
-                    "format": format_param,
-                }],
-                extra_arguments=[{'use_intra_process_comms': True}],
-            ),
+    # camera node
+    composable_nodes = [
+        ComposableNode(
+            package='camera_ros',
+            plugin='camera::CameraNode',
+            parameters=[{
+                "camera": camera_param,
+                "width": 640,
+                "height": 480,
+                "format": format_param,
+            }],
+            extra_arguments=[{'use_intra_process_comms': True}],
+        ),
+
+    ]
+
+    # optionally add ImageViewNode to show camera image
+    if has_resource("packages", "image_view"):
+        composable_nodes += [
             ComposableNode(
                 package='image_view',
                 plugin='image_view::ImageViewNode',
                 remappings=[('/image', '/camera/image_raw')],
                 extra_arguments=[{'use_intra_process_comms': True}],
             ),
-        ],
+        ]
+
+    # composable nodes in single container
+    container = ComposableNodeContainer(
+        name='camera_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=composable_nodes,
     )
 
     return LaunchDescription([

diff --git a/package.xml b/package.xml
@@ -2,22 +2,23 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>camera_ros</name>
-  <version>0.2.0</version>
+  <version>0.2.1</version>
   <description>node for libcamera supported cameras (V4L2, Raspberry Pi Camera Modules)</description>
   <maintainer email="Rauch.Christian@gmx.de">Christian Rauch</maintainer>
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>libcamera</depend>
+  <depend version_gte="0.1">libcamera</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>camera_info_manager</depend>
   <depend>cv_bridge</depend>
 
   <exec_depend>ros2launch</exec_depend>
-  <exec_depend>image_view</exec_depend>
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend condition="$ROS_DISTRO != 'humble'">image_view</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_clang_format</test_depend>