mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-12 07:19:50 +08:00
27 lines
1.3 KiB
XML
27 lines
1.3 KiB
XML
|
<launch>
|
||
|
|
<!-- unique camera name-->
|
||
|
|
<arg name="camera_name" default="camera"/>
|
||
|
|
<!-- Hardware depth registration -->
|
||
|
|
<arg name="3d_sensor" default="astra"/>
|
||
|
|
<!-- stereo_s_u3, astrapro, astra -->
|
||
|
|
<arg name="camera1_prefix" default="01"/>
|
||
|
|
<arg name="camera2_prefix" default="02"/>
|
||
|
|
<arg name="camera1_serila_number" default="ADA611300CE"/>
|
||
|
|
<arg name="camera2_serila_number" default="sn123456789"/>
|
||
|
|
<arg name="device_num" default="2"/>
|
||
|
|
<node name="camera" pkg="orbbec_camera" type="ob_cleanup_shm_node" output="screen"/>
|
||
|
|
<include file="$(find-pkg-share orbbec_camera)/launch/$(arg 3d_sensor).launch.xml">
|
||
|
|
<arg name="camera_name" value="$(var camera_name)_$(var camera1_prefix)"/>
|
||
|
|
<arg name="serial_number" value="$(var camera1_serila_number)"/>
|
||
|
|
<arg name="device_num" value="$(var device_num)"/>
|
||
|
|
</include>
|
||
|
|
|
||
|
|
<include file="$(ind-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
|
||
|
|
<arg name="camera_name" value="$(var camera_name)_$(var camera2_prefix)"/>
|
||
|
|
<arg name="serial_number" value="$(var camera2_serila_number)"/>
|
||
|
|
<arg name="device_num" value="$(var device_num)"/>
|
||
|
|
</include>
|
||
|
|
<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
|
||
|
|
args="0 0 0 0 0 0 camera01_link camera02_link"/>
|
||
|
|
</launch>
|