OrbbecSDK_ROS2/.doctrees/source/5_advanced_guide/multi_camera.doctree

€•6Œdocutils.nodes”Œdocument”“”)�”}”(Œ	rawsource”Œ”Œchildren”]”hŒsection”“”)�”}”(hhh]”(hŒtitle”“”)�”}”(hŒMulti-Camera”h]”hŒText”“”ŒMulti-Camera”…”�”}”(Œparent”hŒ	_document”hŒsource”NŒline”NubaŒ
attributes”}”(Œids”]”Œclasses”]”Œnames”]”Œdupnames”]”Œbackrefs”]”uŒtagname”hhK
hhhŒ\/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/source/5_advanced_guide/multi_camera.md”ubhŒbullet_list”“”)�”}”(hhh]”hŒ	list_item”“”)�”}”(hhh]”hŒ	paragraph”“”)�”}”(hŒdTo get the usb_port of the camera, plug in the camera and run the following command in the terminal:”h]”(hŒTo get the ”…”�”}”(hh8hhhNhNubhŒliteral”“”)�”}”(hŒusb_port”h]”hŒusb_port”…”�”}”(hhBhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h@hh8hhhh+hKubhŒQ of the camera, plug in the camera and run the following command in the terminal:”…”�”}”(hh8hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h6hKhh3hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h1hKhh.hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hKhhhhhh+ubhŒ
literal_block”“”)�”}”(hŒ(ros2 run orbbec_camera list_devices_node”h]”hŒ(ros2 run orbbec_camera list_devices_node”…”�”}”hhhsbah}”(h ]”h"]”h$]”h&]”h(]”Œ	xml:space”Œpreserve”Œforce”‰Œlanguage”Œbash”Œhighlight_args”}”uh*hfhh+hK
hhhhubh-)�”}”(hhh]”(h2)�”}”(hhh]”h7)�”}”(hŒ?Set the device_num parameter to the number of cameras you have.”h]”(hŒSet the ”…”�”}”(hhƒhhhNhNubhA)�”}”(hŒ
device_num”h]”hŒ
device_num”…”�”}”(hh‹hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h@hhƒhhhh+hKubhŒ- parameter to the number of cameras you have.”…”�”}”(hhƒhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h6hK	hh€hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h1hK	hh}hhhh+ubh2)�”}”(hhh]”h7)�”}”(hŒQGo to the OrbbecSDK_ROS2/launch/multi_xxx.launch.py file and change the usb_port.”h]”(hŒ
Go to the ”…”�”}”(hh¬hhhNhNubhA)�”}”(hŒ)OrbbecSDK_ROS2/launch/multi_xxx.launch.py”h]”hŒ)OrbbecSDK_ROS2/launch/multi_xxx.launch.py”…”�”}”(hh´hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h@hh¬hhhh+hKubhŒ file and change the ”…”�”}”(hh¬hhhNhNubhA)�”}”(hŒusb_port”h]”hŒusb_port”…”�”}”(hhÆhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h@hh¬hhhh+hKubhŒ
.”…”�”}”(hh¬hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h6hK
hh©hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h1hK
hh}hhhh+ubh2)�”}”(hhh]”h7)�”}”(hŒ‡Don't forget to put the include tag inside the group tag.
Otherwise, the parameter values of different cameras may become contaminated.”h]”(hŒDon”…”�”}”(hhçhhhNhNubhŒ’”…”�”}”(hhçhhhNhNubhŒt forget to put the ”…”�”}”(hhçhhhNhNubhA)�”}”(hŒinclude”h]”hŒinclude”…”�”}”(hh÷hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h@hhçhhhh+hKubhŒ tag inside the ”…”�”}”(hhçhhhNhNubhA)�”}”(hŒgroup”h]”hŒgroup”…”�”}”(hj	
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h@hhçhhhh+hKubhŒ tag.”…”�”}”(hhçhhhNhNubhŒ

”…”�”}”(hhçhhhNhNubhŒMOtherwise, the parameter values of different cameras may become contaminated.”…”�”}”(hhçhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h6hKhhähhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h1hKhh}hhhh+ubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK	hhhhhh+ubhg)�”}”(hXÇfrom launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os


def generate_launch_description():
    # Include launch files
    package_dir = get_package_share_directory('orbbec_camera')
    launch_file_dir = os.path.join(package_dir, 'launch')
    launch1_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'gemini2L.launch.py')
        ),
        launch_arguments={
            'camera_name': 'camera_01',
            'usb_port': '6-2.4.4.2',  # replace your usb port here
            'device_num': '2'
        }.items()
    )

    launch2_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'gemini2L.launch.py')
        ),
        launch_arguments={
            'camera_name': 'camera_02',
            'usb_port': '6-2.4.1',  # replace your usb port here
            'device_num': '2'
        }.items()
    )

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

    # Launch description
    ld = LaunchDescription([
        GroupAction([launch1_include]),
        GroupAction([launch2_include]),
    ])

    return ld
”h]”hXÇfrom launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os


def generate_launch_description():
    # Include launch files
    package_dir = get_package_share_directory('orbbec_camera')
    launch_file_dir = os.path.join(package_dir, 'launch')
    launch1_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'gemini2L.launch.py')
        ),
        launch_arguments={
            'camera_name': 'camera_01',
            'usb_port': '6-2.4.4.2',  # replace your usb port here
            'device_num': '2'
        }.items()
    )

    launch2_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'gemini2L.launch.py')
        ),
        launch_arguments={
            'camera_name': 'camera_02',
            'usb_port': '6-2.4.1',  # replace your usb port here
            'device_num': '2'
        }.items()
    )

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

    # Launch description
    ld = LaunchDescription([
        GroupAction([launch1_include]),
        GroupAction([launch2_include]),
    ])

    return ld
”…”�”}”hj5
sbah}”(h ]”h"]”h$]”h&]”h(]”hvhwhx‰hyŒpython”h{}”uh*hfhh+hK
hhhhubh-)�”}”(hhh]”h2)�”}”(hhh]”h7)�”}”(hŒ1To launch the cameras, run the following command:”h]”hŒ1To launch the cameras, run the following command:”…”�”}”(hjK
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h6hK=hjH
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h1hK=hjE
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h,hK=hhhhhh+ubhg)�”}”(hŒ0ros2 launch orbbec_camera multi_camera.launch.py”h]”hŒ0ros2 launch orbbec_camera multi_camera.launch.py”…”�”}”hje
sbah}”(h ]”h"]”h$]”h&]”h(]”hvhwhx‰hyŒbash”h{}”uh*hfhh+hK
hhhhubh
)�”}”(hhh]”(h)�”}”(hŒ$No Data Stream from Multiple Cameras”h]”hŒ$No Data Stream from Multiple Cameras”…”�”}”(hjx
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hh+ubh7)�”}”(hŒInsufficient Power Supply:”h]”(hŒstrong”“”)�”}”(hŒInsufficient Power Supply”h]”hŒInsufficient Power Supply”…”�”}”(hjŒ
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*jŠ
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:”…”�”}”(hj†
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hhhh+ubh-)�”}”(hhh]”(h2)�”}”(hhh]”h7)�”}”(hŒ7Ensure that each camera is connected to a separate hub.”h]”hŒ7Ensure that each camera is connected to a separate hub.”…”�”}”(hjª
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h6hKGhj§
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*h1hKGhj¤
hhhh+ubh2)�”}”(hhh]”h7)�”}”(hŒ=Use a powered hub to provide sufficient power to each camera.”h]”hŒ=Use a powered hub to provide sufficient power to each camera.”…”�”}”(hjÁ
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hjhhhh+hKubhŒ
:”…”�”}”(hjhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h6hKNhju
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by running the following command:”h]”(hŒ
Increase the ”…”�”}”(hjIhhhNhNubhA)�”}”(hŒusbfs_memory_mb”h]”hŒusbfs_memory_mb”…”�”}”(hjQhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h@hjIhhhh+hKubhŒ^ value to 128MB (this is a reference value and can be adjusted based on your system’s needs)”…”�”}”(hjIhhhNhNubhŒ

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hhhh+ubhg)�”}”(hŒF    echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb”h]”hŒF    echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb”…”�”}”hj}sbah}”(h ]”h"]”h$]”h&]”h(]”hvhwhx‰hyŒbash”h{}”uh*hfhh+hKChju
hhubh-)�”}”(hhh]”h2)�”}”(hhh]”h7)�”}”(hŒ/To make this change permanent, check this link.”h]”(hŒ%To make this change permanent, check ”…”�”}”(hj“hhhNhNubhŒ	reference”“”)�”}”(hŒ	this link”h]”hŒ	this link”…”�”}”(hj�hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”Œrefuri”Œ5https://github.com/OpenKinect/libfreenect2/issues/807”uh*j›hKWhj“hhhh+ubhŒ
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)�”}”(hhh]”(h)�”}”(hŒ4Image topic frame rate too low from Multiple Cameras”h]”hŒ4Image topic frame rate too low from Multiple Cameras”…”�”}”(hjÎhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKYhjËhh+ubh7)�”}”(hŒ)Refer to the Fast DDS Configuration file.”h]”(hŒ
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