Update orbbec_multicamera.launch.py and orbbec_camera.launch.py

orbbec_camera/config/multicamera_test/gemini330_series_sync_left_camera.yaml

@@ -101,7 +101,7 @@ orbbec_ros:
                 depth_delay_us: 0
                 color_delay_us: 0
                 trigger2image_delay_us: 0
-                trigger_out_enabled: false
+                trigger_out_enabled: true
                 trigger_out_delay_us: 0
                 frames_per_trigger: 2
                 software_trigger_period: 33

orbbec_camera/config/multicamera_test/gemini330_series_sync_rear_camera.yaml

@@ -101,7 +101,7 @@ orbbec_ros:
                 depth_delay_us: 0
                 color_delay_us: 0
                 trigger2image_delay_us: 0
-                trigger_out_enabled: false
+                trigger_out_enabled: true
                 trigger_out_delay_us: 0
                 frames_per_trigger: 2
                 software_trigger_period: 33

orbbec_camera/config/multicamera_test/gemini330_series_sync_right_camera.yaml

@@ -101,7 +101,7 @@ orbbec_ros:
                 depth_delay_us: 0
                 color_delay_us: 0
                 trigger2image_delay_us: 0
-                trigger_out_enabled: false
+                trigger_out_enabled: true
                 trigger_out_delay_us: 0
                 frames_per_trigger: 2
                 software_trigger_period: 33

orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json

@@ -1,13 +1,17 @@
 {
-    "save_rgbir_params": {
+  "save_rgbir_params": {
-        "time_domain": "device",
+      "time_domain": "device",
-        "usb_ports": [
+      "usb_ports": [
-            "2-3",
+          "2-1",
-            "2-1"
+          "2-4",
-        ],
+          "2-7",
-        "camera_name": [
+          "2-3"
-            "G330_0",
+      ],
-            "G330_1"
+      "camera_name": [
-        ]
+          "G330_0",
-    }
+          "G330_1",
+          "G330_2",
+          "G330_3"
+      ]
+  }
 }

orbbec_camera/launch/orbbec_camera.launch.py

@@ -32,6 +32,7 @@ def generate_launch_arguments():
         DeclareLaunchArgument('usb_port', default_value=''),
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('sync_mode', default_value='standalone'),
+        DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
         #instra-process demo set
         DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
         DeclareLaunchArgument('attach_component_container_enable', default_value='false'),

orbbec_camera/launch/orbbec_multi_synced.launch.py

@@ -1,65 +0,0 @@
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from ament_index_python.packages import get_package_share_directory
-import os
-
-
-def generate_launch_description():
-    # Include launch files
-    package_dir = get_package_share_directory('orbbec_camera')
-    launch_file_dir = os.path.join(package_dir, 'launch')
-    launch1_include = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
-        ),
-        launch_arguments={
-            "camera_model": "gemini330_series",
-            'camera_name': 'camera_01',
-            "usb_port": "4-1",
-            "device_num": "3",
-            "sync_mode": "primary",
-        }.items()
-    )
-
-    launch2_include = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
-        ),
-        launch_arguments={
-            "camera_model": "gemini330_series",
-            "attach_component_container_enable": "true",
-            'camera_name': 'camera_02',
-            'usb_port': '4-2',
-            'device_num': '3',
-            "sync_mode": "secondary_synced",
-        }.items()
-    )
-
-    launch3_include = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
-        ),
-        launch_arguments={
-            "camera_model": "gemini330_series",
-            "attach_component_container_enable": "true",
-            'camera_name': 'camera_03',
-            'usb_port': '4-3',
-            'device_num': '3',
-            "sync_mode": "secondary_synced",
-        }.items()
-    )
-
-    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
-
-    # Launch description
-    ld = LaunchDescription(
-        [
-            TimerAction(period=3.0, actions=[GroupAction([launch1_include])]),
-            TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
-            TimerAction(period=1.0, actions=[GroupAction([launch3_include])]),
-            # The primary camera should be launched at last
-        ]
-    )
-
-    return ld

orbbec_camera/launch/orbbec_multicamera.launch.py

@@ -1,112 +1,86 @@
 import os
-import yaml
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
-from launch.substitutions import LaunchConfiguration
+from launch import LaunchDescription
-from launch.conditions import IfCondition
 from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
-import sys
-sys.path.append(os.path.dirname(os.path.realpath(__file__)))
-from utils_yaml import *
-
-
-default_package_name = 'orbbec_camera'
-default_launch_file = 'orbbec_camera.launch.py'
-default_multi_camera_config_file = 'multicamera.yaml' #'multicamera_synced.yaml'
-default_shared_container_name = 'shared_orbbec_container'
-
-
-def generate_launch_arguments():
-    launch_arguments = [
-        #general config
-        DeclareLaunchArgument('config_file_path', default_value=default_multi_camera_config_file),
-        #instra-process demo set
-        DeclareLaunchArgument('use_intra_process_comms', default_value='false'), #false
-        DeclareLaunchArgument('attach_component_container_enable', default_value='false'), #false
-        DeclareLaunchArgument('attach_component_container_name', default_value=default_shared_container_name),
-    ]
-    return launch_arguments
-
-
-def generate_camera_node(args, launch_file_dir, camera_params, launch_file=default_launch_file):
-    config_params = {key: value for key, value in camera_params.items()}
-    #load launch_arguments and meger to yaml params
-    args_params = {arg.name: arg.default_value for arg in args}
-    #print_params(args_params)
-    default_params = update_params(args_params, config_params)
-    #print_params(default_params)
-    return IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, launch_file)
-        ),
-        launch_arguments=default_params.items()
-    )
-
-
-def load_yaml_params(config_file_path):
-    config_yaml_path = config_file_path or os.path.join(get_package_share_directory(default_package_name), 'config', config_file_path)
-    config_yaml_path = get_absolute_path(config_yaml_path, package_name=default_package_name)
-    print(f"load convert Absolute config_yaml_path: {config_yaml_path}")
-    return load_yaml(config_yaml_path)
 
 
 def generate_launch_description():
-    args=generate_launch_arguments()
+    # Include launch files
-    package_dir = get_package_share_directory(default_package_name)
+    package_dir = get_package_share_directory('orbbec_camera')
-    launch_file_dir = os.path.join(package_dir, "launch")
+    launch_file_dir = os.path.join(package_dir, 'launch')
 
+    G330_0 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
+        ),
+        launch_arguments={
+            "camera_model": "gemini330_series",
+            "attach_component_container_enable": "true",
+            "camera_name": 'G330_0',
+            "usb_port": "2-1",
+            "device_num": "4",
+            "sync_mode": "primary",
+        }.items()
+    )
 
-    def create_share_container(attach_component_container_name, attach_enable_condition):
+    G330_1 = IncludeLaunchDescription(
-        shared_container = Node(
+        PythonLaunchDescriptionSource(
-            name=attach_component_container_name,
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
-            package='rclcpp_components',
+        ),
-            executable='component_container_mt',
+        launch_arguments={
-            output='screen',
+            "camera_model": "gemini330_series",
-            condition=IfCondition(attach_enable_condition)
+            "attach_component_container_enable": "false",
-        )
+            "camera_name": 'G330_1',
-        return shared_container
+            "usb_port": '2-4',
+            "device_num": '4',
+            "sync_mode": "secondary_synced",
+            "trigger_out_enabled": 'false',
+        }.items()
+    )
 
+    G330_2 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
+        ),
+        launch_arguments={
+            "camera_model": "gemini330_series",
+            "attach_component_container_enable": "true",
+            "camera_name": 'G330_2',
+            "usb_port": '2-7',
+            "device_num": '4',
+            "sync_mode": "secondary_synced",
+            "trigger_out_enabled": 'false',
+        }.items()
+    )
 
-    def create_node_action(context, args):
+    G330_3 = IncludeLaunchDescription(
-        attach_enable_condition = LaunchConfiguration("attach_component_container_enable", default=False).perform(context)
+        PythonLaunchDescriptionSource(
-        attach_component_container_name = LaunchConfiguration("attach_component_container_name", default=default_shared_container_name).perform(context)
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
-        use_intra_process_comms = LaunchConfiguration("use_intra_process_comms", default=False).perform(context)
+        ),
-        print(f"attach_enable_condition: {attach_enable_condition}", f"attach_component_container_name: {attach_component_container_name}")
+        launch_arguments={
-        print(f"use_intra_process_comms: {use_intra_process_comms}")
+            "camera_model": "gemini330_series",
-        shared_container_node = create_share_container(attach_component_container_name, attach_enable_condition)
+            "attach_component_container_enable": "true",
+            "camera_name": 'G330_3',
+            "usb_port": '2-3',
+            "device_num": '4',
+            "sync_mode": "secondary_synced",
+            "trigger_out_enabled": 'false',
+        }.items()
+    )
 
-        config_file_path = LaunchConfiguration("config_file_path", default=default_multi_camera_config_file).perform(context)
+    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
-        print(f"config_file_path: {config_file_path}")
-        #camera_config_file = os.path.join(package_dir, "config", config_file_path)
-        config_params = load_yaml_params(config_file_path)
-        if not config_params:
-            raise Exception("Failed to load multi-camera configuration.")
 
-        camera_params = config_params['orbbec_ros']['multi_camera_parameters']
+    # Launch description
-        camera_actions = []
+    ld = LaunchDescription(
-        for camera_key in camera_params:
+        [
-            if camera_key.startswith('launch_device_camera'):
+            TimerAction(period=0.0, actions=[GroupAction([G330_1])]),
-                camera_config = camera_params[camera_key]
+            TimerAction(period=2.0, actions=[GroupAction([G330_2])]),
-                #print_params(camera_config)
+            TimerAction(period=4.0, actions=[GroupAction([G330_3])]),
-                period_value = float(camera_config.pop('period', '0.0'))
+            TimerAction(period=6.0, actions=[GroupAction([G330_0])]),
-                print(f"period_value: {period_value}", f"camera_config: {camera_config}")
+            # The primary camera should be launched at last
-
-                camera_node = generate_camera_node(args, launch_file_dir, camera_config)
-                camera_action = TimerAction(period=period_value, actions=[camera_node])
-                camera_actions.append(camera_action)
-
-        nodes = [
-                shared_container_node,
-                *camera_actions,
-            ]
-        return nodes
-
-    return LaunchDescription(
-        args + [
-            OpaqueFunction(function=lambda context: create_node_action(context, args))
         ]
-    )
+    )
+
+    return ld