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48 lines
1.4 KiB
Markdown
48 lines
1.4 KiB
Markdown
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# GMSL_camera
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> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only G335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.
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## Single GMSL camera
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The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py
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```
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## Multi GMSL camera
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To get the `usb_port` of the GMSL 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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For example, the obtained gmsl camera `usb_port`: `gmsl2-1`
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Go to the [multi_camera.launch.py](../../launch/multi_camera.launch.py) file and change the `usb_port`.
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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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## Multi GMSL camera synced
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First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD).
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In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the `primary` mode. Each GMSL camera is `secondary`.
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### Additional Parameter Settings
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gmsl_trigger_fps : set hardware soc trigger source frame rate.
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enable_gmsl_trigger : enable hardware soc trigger.
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### Run the launch
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Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](multi_gmsl_camera_synced.launch.py)
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```bash
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ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py
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```
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