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https://github.com/orbbec/OrbbecSDK_ROS2.git
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92 lines
2.8 KiB
Markdown
92 lines
2.8 KiB
Markdown
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# Multi-Camera
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- To get the `usb_port` of the camera, plug in the camera and run the following command in the terminal:
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```bash
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ros2 run orbbec_camera list_devices_node
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```
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- Set the `device_num` parameter to the number of cameras you have.
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- Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.py` file and change the `usb_port`.
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- Don't forget to put the `include` tag inside the `group` tag.
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Otherwise, the parameter values of different cameras may become contaminated.
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```python
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory('orbbec_camera')
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launch_file_dir = os.path.join(package_dir, 'launch')
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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini2L.launch.py')
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),
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launch_arguments={
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'camera_name': 'camera_01',
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'usb_port': '6-2.4.4.2', # replace your usb port here
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'device_num': '2'
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}.items()
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)
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini2L.launch.py')
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),
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launch_arguments={
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'camera_name': 'camera_02',
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'usb_port': '6-2.4.1', # replace your usb port here
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'device_num': '2'
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}.items()
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)
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# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
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# Launch description
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ld = LaunchDescription([
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GroupAction([launch1_include]),
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GroupAction([launch2_include]),
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])
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return ld
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```
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- To launch the cameras, run the following command:
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```bash
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ros2 launch orbbec_camera multi_camera.launch.py
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```
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## No Data Stream from Multiple Cameras
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**Insufficient Power Supply**:
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- Ensure that each camera is connected to a separate hub.
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- Use a powered hub to provide sufficient power to each camera.
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**High Resolution**:
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- Try lowering the resolution to resolve data stream issues.
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**Increase usbfs_memory_mb Value**:
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- Increase the `usbfs_memory_mb` value to 128MB (this is a reference value and can be adjusted based on your system’s needs)
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by running the following command:
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```bash
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echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
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```
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- To make this change permanent, check [this link](https://github.com/OpenKinect/libfreenect2/issues/807).
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## Image topic frame rate too low from Multiple Cameras
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Refer to the [Fast DDS Configuration](./docs/fastdds_tuning.md) file.
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