OrbbecSDK_ROS2/orbbec_camera/launch/orbbec_multicamera.launch.py

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
from launch.launch_description_sources import PythonLaunchDescriptionSource


def generate_launch_description():
    # Include launch files
    package_dir = get_package_share_directory('orbbec_camera')
    launch_file_dir = os.path.join(package_dir, 'launch')

    G330_0 = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
        ),
        launch_arguments={
            "camera_model": "gemini330_series",
            "attach_component_container_enable": "true",
            "camera_name": 'G330_0',
            "usb_port": "2-1",
            "device_num": "4",
            "sync_mode": "primary",
        }.items()
    )

    G330_1 = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
        ),
        launch_arguments={
            "camera_model": "gemini330_series",
            "attach_component_container_enable": "false",
            "camera_name": 'G330_1',
            "usb_port": '2-4',
            "device_num": '4',
            "sync_mode": "secondary_synced",
            "trigger_out_enabled": 'false',
        }.items()
    )

    G330_2 = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
        ),
        launch_arguments={
            "camera_model": "gemini330_series",
            "attach_component_container_enable": "true",
            "camera_name": 'G330_2',
            "usb_port": '2-7',
            "device_num": '4',
            "sync_mode": "secondary_synced",
            "trigger_out_enabled": 'false',
        }.items()
    )

    G330_3 = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
        ),
        launch_arguments={
            "camera_model": "gemini330_series",
            "attach_component_container_enable": "true",
            "camera_name": 'G330_3',
            "usb_port": '2-3',
            "device_num": '4',
            "sync_mode": "secondary_synced",
            "trigger_out_enabled": 'false',
        }.items()
    )

    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num

    # Launch description
    ld = LaunchDescription(
        [
            TimerAction(period=0.0, actions=[GroupAction([G330_1])]),
            TimerAction(period=2.0, actions=[GroupAction([G330_2])]),
            TimerAction(period=4.0, actions=[GroupAction([G330_3])]),
            TimerAction(period=6.0, actions=[GroupAction([G330_0])]),
            # The primary camera should be launched at last
        ]
    )

    return ld