i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-15 04:20:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update launch file name

Browse Source
This commit is contained in:
Joe Dong
2024-05-09 18:07:04 +08:00
parent b205cfdf86
commit 0039e9571c
7 changed files with 44 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
README.MD
+31 -31
View File
@@ -462,37 +462,37 @@ bash .make_deb.sh
## Launch files
| product serials | launch file |
|---------------------------------------|--------------------------|
| astra+ | astra_adv.launch.py |
| astra mini /astra mini pro /astra pro | astra.launch.py |
| astra mini pro s | astra.launch.py |
| astra2 | astra2.launch.py |
| astra stereo s | stereo_s_u3.launch.py |
| astra pro2 | astra_pro2.launch.py |
| dabai | dabai.launch.py |
| dabai d1 | dabai_d1.launch.py |
| dabai dcw | dabai_dcw.launch.py |
| dabai dw | dabai_dw.launch.py |
| dabai pro | dabai_pro.launch.py |
| deeya | deeya.launch.py |
| femto /femto w | femto.launch.py |
| femto mega | femto_mega.launch.py |
| femto bolt | femto_bolt.launch.py |
| gemini | gemini.launch.py |
| gemini | gemini.launch.py |
| gemini2 / dabai DCL | gemini2.launch.py |
| gemini2L | gemini2L.launch.py |
| gemini e | gemini_e.launch.py |
| gemini e lite | gemini_e_lite.launch.py |
| dabai max | dabai_max.launch.py |
| dabai max pro | dabai_max_pro.launch.py |
| gemini uw | gemini_uw.launch.py |
| dabai dcw2 | dabai_dcw2.launch.py |
| dabai dw2 | dabai_dw2.launch.py |
| gemini ew | gemini_ew.launch.py |
| gemini ew lite | gemini_ew_lite.launch.py |
| gemini 300 serial | gemini_camera.launch.py |
| product serials | launch file |
|---------------------------------------|-----------------------------|
| astra+ | astra_adv.launch.py |
| astra mini /astra mini pro /astra pro | astra.launch.py |
| astra mini pro s | astra.launch.py |
| astra2 | astra2.launch.py |
| astra stereo s | stereo_s_u3.launch.py |
| astra pro2 | astra_pro2.launch.py |
| dabai | dabai.launch.py |
| dabai d1 | dabai_d1.launch.py |
| dabai dcw | dabai_dcw.launch.py |
| dabai dw | dabai_dw.launch.py |
| dabai pro | dabai_pro.launch.py |
| deeya | deeya.launch.py |
| femto /femto w | femto.launch.py |
| femto mega | femto_mega.launch.py |
| femto bolt | femto_bolt.launch.py |
| gemini | gemini.launch.py |
| gemini | gemini.launch.py |
| gemini2 / dabai DCL | gemini2.launch.py |
| gemini2L | gemini2L.launch.py |
| gemini e | gemini_e.launch.py |
| gemini e lite | gemini_e_lite.launch.py |
| dabai max | dabai_max.launch.py |
| dabai max pro | dabai_max_pro.launch.py |
| gemini uw | gemini_uw.launch.py |
| dabai dcw2 | dabai_dcw2.launch.py |
| dabai dw2 | dabai_dw2.launch.py |
| gemini ew | gemini_ew.launch.py |
| gemini ew lite | gemini_ew_lite.launch.py |
| gemini 300 series | gemini_330_series.launch.py |
**All launch files are essentially similar, with the primary difference being the default values of the parameters set for different models
within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you
docs/align_depth_color.MD
+2 -2
View File
@@ -9,7 +9,7 @@ This section explains how to align depth images with color images to create an o
To simply align the depth image to the color image, use the following command:
```bash
ros2 launch orbbec_camera gemini_camera.launch.py depth_registration:=true
ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true
```
This command activates the depth registration feature without opening a viewer.
@@ -19,7 +19,7 @@ This section explains how to align depth images with color images to create an o
If you wish to view the depth to color overlay, you need to enable the viewer by using the command below:
```bash
ros2 launch orbbec_camera gemini_camera.launch.py depth_registration:=true enable_d2c_viewer:=true
ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true enable_d2c_viewer:=true
```
This launches the camera node with depth to color registration and opens a viewer to display the overlay image.
docs/multi_camera.MD
+2 -2
View File
@@ -45,12 +45,12 @@ def generate_launch_description():
launch_file_dir = os.path.join(package_dir, 'launch')
launch1_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_file_dir, 'gemini_camera.launch.py')),
PythonLaunchDescriptionSource(os.path.join(launch_file_dir, 'gemini_330_series.launch.py')),
launch_arguments={'camera_name': 'camera_01', 'usb_port': '2-3.4.4.4.1', 'device_num': '2', 'sync_mode': 'free_run'}.items()
)
launch2_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(launch_file_dir, 'gemini_camera.launch.py')),
PythonLaunchDescriptionSource(os.path.join(launch_file_dir, 'gemini_330_series.launch.py')),
launch_arguments={'camera_name': 'camera_02', 'usb_port': '2-3.4.4.4.3', 'device_num': '2', 'sync_mode': 'free_run'}.items()
)
docs/point_cloud.MD
+2 -2
View File
@@ -9,7 +9,7 @@ This section demonstrates how to enable point cloud data output from the camera
To activate the point cloud data stream for depth information, use the following command:
```bash
ros2 launch orbbec_camera gemini_camera.launch.py enable_point_cloud:=true
ros2 launch orbbec_camera gemini_330_series.launch.py enable_point_cloud:=true
```
#### Visualizing Depth Point Cloud in RViz2
@@ -34,7 +34,7 @@ Here is what the depth point cloud might look like in RViz2:
To enable the colored point cloud feature, enter the following command:
```bash
ros2 launch orbbec_camera gemini_camera.launch.py enable_colored_point_cloud:=true
ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
```
#### Visualizing Colored Point Cloud in RViz2
docs/start_camera_node.MD
+1 -1
View File
@@ -7,7 +7,7 @@ This guide provides instructions on how to launch the camera node with a colored
To start the camera node, execute the following command in your terminal:
```bash
ros2 launch orbbec_camera gemini_camera.launch.py enable_colored_point_cloud:=true
ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
```
This command initiates the camera node and enables the colored point cloud.
orbbec_camera/launch/gemini_camera.launch.py → orbbec_camera/launch/gemini_330_series.launch.py
+2 -2
View File
@@ -40,14 +40,14 @@ def generate_launch_description():
DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_fps', default_value='0'),
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_left_ir', default_value='true'),
DeclareLaunchArgument('enable_left_ir', default_value='false'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('right_ir_width', default_value='0'),
DeclareLaunchArgument('right_ir_height', default_value='0'),
DeclareLaunchArgument('right_ir_fps', default_value='0'),
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_right_ir', default_value='true'),
DeclareLaunchArgument('enable_right_ir', default_value='false'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
orbbec_camera/launch/multi_camera.launch.py
+4 -4
View File
@@ -12,11 +12,11 @@ def generate_launch_description():
launch_file_dir = os.path.join(package_dir, 'launch')
launch1_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini_camera.launch.py')
os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
),
launch_arguments={
'camera_name': 'camera_01',
'usb_port': '2-3.4.4.4.1',
'usb_port': '2-1.1',
'device_num': '2',
'sync_mode': 'free_run'
}.items()
@@ -24,11 +24,11 @@ def generate_launch_description():
launch2_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini_camera.launch.py')
os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
),
launch_arguments={
'camera_name': 'camera_02',
'usb_port': '2-3.4.4.4.3',
'usb_port': '2-1.2.1',
'device_num': '2',
'sync_mode': 'free_run'
}.items()