Merge pull request #1108 from ROBOTIS-GIT/feature-picamera-launch

Allow dynamic image size via CLI

Author: GyuH13

turtlebot3/CHANGELOG.rst

@@ -2,14 +2,15 @@
 Changelog for package turtlebot3
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.3.1 (2025-05-28)
+2.3.1 (2025-05-30)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt
-* Contributor: Hyungyu Kim
+* Added launch arguments to camera.launch.py file to configure the camera image resolution at runtime via the CLI
+* Contributor: Hyungyu Kim, YeonSoo Noh
 
 2.3.0 (2025-05-23)
 ------------------
-* Added a launch file using camera_ros to reslove the camera cropping issue
+* Added a launch file using camera_ros to resolve the camera cropping issue
 * Contributor: YeonSoo Noh
 
 2.2.9 (2025-04-15)

turtlebot3_bringup/CHANGELOG.rst

@@ -2,13 +2,14 @@
 Changelog for package turtlebot3_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.3.1 (2025-05-28)
+2.3.1 (2025-05-30)
 ------------------
-* None
+* Added launch arguments to camera.launch.py file to configure the camera image resolution at runtime via the CLI
+* Contributor: YeonSoo Noh
 
 2.3.0 (2025-05-23)
 ------------------
-* Added a launch file using camera_ros to reslove the camera cropping issue
+* Added a launch file using camera_ros to resolve the camera cropping issue
 * Contributor: YeonSoo Noh
 
 2.2.9 (2025-04-15)

turtlebot3_bringup/launch/camera.launch.py

@@ -61,15 +61,33 @@ def generate_launch_description() -> LaunchDescription:
         description='Whether to launch image_view (true/false)'
     )
 
+    width_name = 'width'
+    width_default = '640'
+    width_param = LaunchConfiguration(width_name)
+    width_launch_arg = DeclareLaunchArgument(
+        width_name,
+        default_value=width_default,
+        description='Camera image width'
+    )
+
+    height_name = 'height'
+    height_default = '480'
+    height_param = LaunchConfiguration(height_name)
+    height_launch_arg = DeclareLaunchArgument(
+        height_name,
+        default_value=height_default,
+        description='Camera image height'
+    )
+
     composable_nodes = [
         ComposableNode(
             package='camera_ros',
             plugin='camera::CameraNode',
             parameters=[{
                 'camera': camera_param,
                 'sensor_mode': '1640:1232',
-                'width': 320,
-                'height': 240,
+                'width': width_param,
+                'height': height_param,
                 'format': format_param,
             }],
             extra_arguments=[{'use_intra_process_comms': True}],
@@ -99,5 +117,7 @@ def generate_launch_description() -> LaunchDescription:
         camera_launch_arg,
         format_launch_arg,
         use_image_view_launch_arg,
+        width_launch_arg,
+        height_launch_arg,
         container,
     ])

turtlebot3_cartographer/CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package turtlebot3_cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.3.1 (2025-05-28)
+2.3.1 (2025-05-30)
 ------------------
 * None
 

turtlebot3_description/CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package turtlebot3_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.3.1 (2025-05-28)
+2.3.1 (2025-05-30)
 ------------------
 * None
 

turtlebot3_example/CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package turtlebot3_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.3.1 (2025-05-28)
+2.3.1 (2025-05-30)
 ------------------
 * None
 

turtlebot3_navigation2/CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package turtlebot3_navigation2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.3.1 (2025-05-28)
+2.3.1 (2025-05-30)
 ------------------
 * None
 

turtlebot3_node/CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package turtlebot3_node
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.3.1 (2025-05-28)
+2.3.1 (2025-05-30)
 ------------------
 * Deprecate ament_include_dependency usage in CMakeLists.txt
 * Contributor: Hyungyu Kim

turtlebot3_teleop/CHANGELOG.rst

@@ -2,7 +2,7 @@
 Changelog for package turtlebot3_teleop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.3.1 (2025-05-28)
+2.3.1 (2025-05-30)
 ------------------
 * None