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Update gmsl_camera example

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jj
2025-04-21 14:22:51 +08:00
parent 02b101f3cc
commit 08a6f69390
6 changed files with 489 additions and 27 deletions
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orbbec_camera/examples/gmsl_camera/README.MD
+8 -5
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@@ -1,13 +1,13 @@
# GMSL_camera
> 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.
> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.
## Single GMSL camera
The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.
```bash
ros2 launch orbbec_camera gemini_330_series.launch.py
ros2 launch orbbec_camera gemini_330_gmsl.launch.py
```
## Multi GMSL camera
@@ -20,12 +20,14 @@ ros2 run orbbec_camera list_devices_node
For example, the obtained gmsl camera `usb_port`: `gmsl2-1`
Go to the [multi_camera.launch.py](../../launch/multi_camera.launch.py) file and change the `usb_port`.
Go to the [multi_gmsl_camera.launch.py](./multi_gmsl_camera.launch.py) file and change the `usb_port`.
```bash
ros2 launch orbbec_camera multi_camera.launch.py
ros2 launch orbbec_camera multi_gmsl_camera.launch.py
```
> Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) to modify them.
## Multi GMSL camera synced
First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD).
@@ -35,7 +37,6 @@ In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro
### Additional Parameter Settings
* `gmsl_trigger_fps` : set hardware soc trigger source frame rate.
* `enable_gmsl_trigger` : enable hardware soc trigger.
### Run the launch
@@ -45,3 +46,5 @@ Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](multi
```bash
ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py
```
> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) and [camera_params.yaml](../../config/camera_params.yaml) to modify them.