openarm_ros2/openarm_bimanual_bringup/launch/depth_camera.launch.py

# Copyright 2025 Reazon Holdings, Inc.
#
# 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.

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    realsense_share_dir = FindPackageShare("realsense2_camera")
    rs_launch_path = [realsense_share_dir, "/launch/rs_launch.py"]

    return LaunchDescription([
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(rs_launch_path),
            launch_arguments={"pointcloud.enable": "true"}.items()
        )
    ])