From 003f5c5a517b90037f5b2614dd6df33db1d29500 Mon Sep 17 00:00:00 2001
From: Joe Dong <jian.dong@pobox.com>
Date: Wed, 17 Jul 2024 20:32:10 +0800
Subject: [PATCH] chore: Update multi camera launch example

---
 .../launch/multi_camera_synced.launch.py      | 56 +++++++++----------
 .../scripts/generate_orbbec_launch.sh         |  2 +-
 2 files changed, 29 insertions(+), 29 deletions(-)

diff --git a/orbbec_camera/launch/multi_camera_synced.launch.py b/orbbec_camera/launch/multi_camera_synced.launch.py
index f462a9ba..aef4ad7a 100644
--- a/orbbec_camera/launch/multi_camera_synced.launch.py
+++ b/orbbec_camera/launch/multi_camera_synced.launch.py
@@ -1,9 +1,8 @@
-from 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
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
@@ -12,7 +11,7 @@ def generate_launch_description():
     launch_file_dir = os.path.join(package_dir, 'launch')
     config_file_dir = os.path.join(package_dir, 'config')
     config_file_path = os.path.join(config_file_dir, 'camera_params.yaml')
-    launch1_include = IncludeLaunchDescription(
+    front_camera = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
         ),
@@ -20,12 +19,12 @@ def generate_launch_description():
             'camera_name': 'front_camera',
             'usb_port': '2-1.1',
             'device_num': '4',
-            'sync_mode': 'primary',
+            'sync_mode': 'software_triggering',
             'config_file_path': config_file_path,
         }.items()
     )
 
-    launch2_include = IncludeLaunchDescription(
+    left_camera = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
         ),
@@ -33,11 +32,23 @@ def generate_launch_description():
             'camera_name': 'left_camera',
             'usb_port': '2-1.2.1',
             'device_num': '4',
-            'sync_mode': 'secondary_synced',
+            'sync_mode': 'hardware_triggering',
             'config_file_path': config_file_path,
         }.items()
     )
-    launch3_include = IncludeLaunchDescription(
+    rear_camera = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'rear_camera',
+            'usb_port': '2-1.2.1',
+            'device_num': '4',
+            'sync_mode': 'hardware_triggering',
+            'config_file_path': config_file_path,
+        }.items()
+    )
+    right_camera = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
         ),
@@ -45,19 +56,7 @@ def generate_launch_description():
             'camera_name': 'right_camera',
             'usb_port': '2-1.2.1',
             'device_num': '4',
-            'sync_mode': 'secondary_synced',
-            'config_file_path': config_file_path,
-        }.items()
-    )
-    launch4_include = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
-        ),
-        launch_arguments={
-            'camera_name': 'right_camera',
-            'usb_port': '2-1.2.1',
-            'device_num': '4',
-            'sync_mode': 'secondary_synced',
+            'sync_mode': 'hardware_triggering',
             'config_file_path': config_file_path,
         }.items()
     )
@@ -66,10 +65,11 @@ def generate_launch_description():
 
     # Launch description
     ld = LaunchDescription([
-        GroupAction([launch2_include]),
-        GroupAction([launch3_include]),
-        GroupAction([launch4_include]),
-        GroupAction([launch1_include]), # The primary camera should be launched at last
+        GroupAction([rear_camera]),
+        GroupAction([left_camera]),
+        GroupAction([right_camera]),
+        TimerAction(period=3.0, actions=[GroupAction([front_camera])]), # The primary camera should be launched at last
+
     ])
 
-    return ld
+    return ld
\ No newline at end of file
diff --git a/orbbec_camera/scripts/generate_orbbec_launch.sh b/orbbec_camera/scripts/generate_orbbec_launch.sh
index 6d6edce6..92044a9c 100755
--- a/orbbec_camera/scripts/generate_orbbec_launch.sh
+++ b/orbbec_camera/scripts/generate_orbbec_launch.sh
@@ -101,7 +101,7 @@ def generate_launch_description():
         GroupAction([rear_camera]),
         GroupAction([left_camera]),
         GroupAction([right_camera]),
-        TimerAction(period=3.0, actions=[GroupAction([front_camera])]),
+        TimerAction(period=3.0, actions=[GroupAction([front_camera])]), # The primary camera should be launched at last
 
     ])