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chore: Update multi camera launch example

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This commit is contained in:
Joe Dong
2024-07-17 20:32:10 +08:00
parent b11f0b87e3
commit 003f5c5a51
2 changed files with 29 additions and 29 deletions
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orbbec_camera/launch/multi_camera_synced.launch.py
+28 -28
View File
@@ -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 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(): def generate_launch_description():
@@ -12,7 +11,7 @@ def generate_launch_description():
launch_file_dir = os.path.join(package_dir, 'launch') launch_file_dir = os.path.join(package_dir, 'launch')
config_file_dir = os.path.join(package_dir, 'config') config_file_dir = os.path.join(package_dir, 'config')
config_file_path = os.path.join(config_file_dir, 'camera_params.yaml') config_file_path = os.path.join(config_file_dir, 'camera_params.yaml')
launch1_include = IncludeLaunchDescription( front_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini_330_series.launch.py') os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
), ),
@@ -20,12 +19,12 @@ def generate_launch_description():
'camera_name': 'front_camera', 'camera_name': 'front_camera',
'usb_port': '2-1.1', 'usb_port': '2-1.1',
'device_num': '4', 'device_num': '4',
'sync_mode': 'primary', 'sync_mode': 'software_triggering',
'config_file_path': config_file_path, 'config_file_path': config_file_path,
}.items() }.items()
) )
launch2_include = IncludeLaunchDescription( left_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini_330_series.launch.py') os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
), ),
@@ -33,11 +32,23 @@ def generate_launch_description():
'camera_name': 'left_camera', 'camera_name': 'left_camera',
'usb_port': '2-1.2.1', 'usb_port': '2-1.2.1',
'device_num': '4', 'device_num': '4',
'sync_mode': 'secondary_synced', 'sync_mode': 'hardware_triggering',
'config_file_path': config_file_path, 'config_file_path': config_file_path,
}.items() }.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( PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini_330_series.launch.py') os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
), ),
@@ -45,19 +56,7 @@ def generate_launch_description():
'camera_name': 'right_camera', 'camera_name': 'right_camera',
'usb_port': '2-1.2.1', 'usb_port': '2-1.2.1',
'device_num': '4', 'device_num': '4',
'sync_mode': 'secondary_synced', 'sync_mode': 'hardware_triggering',
'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',
'config_file_path': config_file_path, 'config_file_path': config_file_path,
}.items() }.items()
) )
@@ -66,10 +65,11 @@ def generate_launch_description():
# Launch description # Launch description
ld = LaunchDescription([ ld = LaunchDescription([
GroupAction([launch2_include]), GroupAction([rear_camera]),
GroupAction([launch3_include]), GroupAction([left_camera]),
GroupAction([launch4_include]), GroupAction([right_camera]),
GroupAction([launch1_include]), # The primary camera should be launched at last TimerAction(period=3.0, actions=[GroupAction([front_camera])]), # The primary camera should be launched at last
]) ])
return ld return ld
orbbec_camera/scripts/generate_orbbec_launch.sh
+1 -1
View File
@@ -101,7 +101,7 @@ def generate_launch_description():
GroupAction([rear_camera]), GroupAction([rear_camera]),
GroupAction([left_camera]), GroupAction([left_camera]),
GroupAction([right_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
]) ])