Update gmsl_camera example

orbbec_camera/config/camera_params.yaml

@@ -25,7 +25,7 @@ enable_color: true
 color_width: 0
 color_height: 0
 color_fps: 0
-color_format: "MJPG"
+color_format: "ANY"
 enable_color_auto_exposure: true
 color_exposure: 30 # 3ms
 color_gain: 16 # -1 default
@@ -35,7 +35,7 @@ enable_depth: false
 depth_width: 0
 depth_height: 0
 depth_fps: 0
-depth_format: "Y16"
+depth_format: "ANY"
 
 
 #left ir params
@@ -43,7 +43,7 @@ enable_left_ir: true
 left_ir_width: 0
 left_ir_height: 0
 left_ir_fps: 0
-left_ir_format: "Y8"
+left_ir_format: "ANY"
 enable_ir_auto_exposure: true
 ir_exposure: 3000 # 3ms
 ir_gain: 16 # -1 default
@@ -53,6 +53,6 @@ enable_right_ir: false
 right_ir_width: 0
 right_ir_height: 0
 right_ir_fps: 0
-right_ir_format: "Y8"
+right_ir_format: "ANY"
 
 

orbbec_camera/config/camera_secondary_params.yaml

@@ -25,7 +25,7 @@ enable_color: true
 color_width: 0
 color_height: 0
 color_fps: 0
-color_format: "MJPG"
+color_format: "ANY"
 enable_color_auto_exposure: true
 color_exposure: 30 # 3ms
 color_gain: 16 # -1 default
@@ -35,7 +35,7 @@ enable_depth: false
 depth_width: 0
 depth_height: 0
 depth_fps: 0
-depth_format: "Y16"
+depth_format: "ANY"
 
 
 #left ir params
@@ -43,7 +43,7 @@ enable_left_ir: true
 left_ir_width: 0
 left_ir_height: 0
 left_ir_fps: 0
-left_ir_format: "Y8"
+left_ir_format: "ANY"
 enable_ir_auto_exposure: true
 ir_exposure: 3000 # 3ms
 ir_gain: 16 # -1 default
@@ -53,6 +53,6 @@ enable_right_ir: false
 right_ir_width: 0
 right_ir_height: 0
 right_ir_fps: 0
-right_ir_format: "Y8"
+right_ir_format: "ANY"
 
 

orbbec_camera/examples/gmsl_camera/README.MD

@@ -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.

orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py

@@ -0,0 +1,298 @@
+import os
+import yaml
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
+from launch_ros.descriptions import ComposableNode
+from launch.conditions import UnlessCondition
+from launch_ros.actions import LoadComposableNodes
+
+def load_yaml(file_path):
+    with open(file_path, 'r') as f:
+        return yaml.safe_load(f)
+
+
+def merge_params(default_params, yaml_params):
+    for key, value in yaml_params.items():
+        if key in default_params:
+            default_params[key] = value
+    return default_params
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == 'true':
+            return True
+        elif value.lower() == 'false':
+            return False
+    return value
+
+
+def load_parameters(context, args):
+    default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
+    config_file_path = LaunchConfiguration('config_file_path').perform(context)
+    if config_file_path:
+        yaml_params = load_yaml(config_file_path)
+        default_params = merge_params(default_params, yaml_params)
+    skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
+    return {
+        key: (value if key in skip_convert else convert_value(value))
+        for key, value in default_params.items()
+    }
+
+
+def generate_launch_description():
+    args = [
+         DeclareLaunchArgument('camera_name', default_value='camera'),
+        DeclareLaunchArgument('depth_registration', default_value='true'),
+        DeclareLaunchArgument('serial_number', default_value=''),
+        DeclareLaunchArgument('usb_port', default_value=''),
+        DeclareLaunchArgument('device_num', default_value='1'),
+        DeclareLaunchArgument('preset_firmware_path', default_value=''),
+        DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
+        DeclareLaunchArgument('point_cloud_qos', default_value='default'),
+        DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
+        DeclareLaunchArgument('cloud_frame_id', default_value=''),
+        DeclareLaunchArgument('connection_delay', default_value='10'),
+        DeclareLaunchArgument('color_width', default_value='0'),
+        DeclareLaunchArgument('color_height', default_value='0'),
+        DeclareLaunchArgument('color_fps', default_value='0'),
+        DeclareLaunchArgument('color_format', default_value='ANY'),
+        DeclareLaunchArgument('enable_color', default_value='true'),
+        DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
+        DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
+        DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
+        DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
+        DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
+        DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
+        DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
+        DeclareLaunchArgument('color_exposure', default_value='-1'),
+        DeclareLaunchArgument('color_gain', default_value='-1'),
+        DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
+        DeclareLaunchArgument('color_white_balance', default_value='-1'),
+        DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
+        DeclareLaunchArgument('color_brightness', default_value='-1'),
+        DeclareLaunchArgument('color_sharpness', default_value='-1'),
+        DeclareLaunchArgument('color_gamma', default_value='-1'),
+        DeclareLaunchArgument('color_saturation', default_value='-1'),
+        DeclareLaunchArgument('color_constrast', default_value='-1'),
+        DeclareLaunchArgument('color_hue', default_value='-1'),
+        DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
+        DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
+        DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
+        DeclareLaunchArgument('depth_width', default_value='0'),
+        DeclareLaunchArgument('depth_height', default_value='0'),
+        DeclareLaunchArgument('depth_fps', default_value='0'),
+        DeclareLaunchArgument('depth_format', default_value='ANY'),
+        DeclareLaunchArgument('enable_depth', default_value='true'),
+        DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
+        DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
+        DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
+        DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
+        DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
+        DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
+        DeclareLaunchArgument('depth_brightness', default_value='-1'),
+        DeclareLaunchArgument('left_ir_width', default_value='0'),
+        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='false'),
+        DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
+        DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
+        DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
+        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='false'),
+        DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
+        DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
+        DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
+        DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
+        DeclareLaunchArgument('ir_exposure', default_value='-1'),
+        DeclareLaunchArgument('ir_gain', default_value='-1'),
+        DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
+        DeclareLaunchArgument('ir_brightness', default_value='-1'),
+        DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
+        DeclareLaunchArgument('enable_accel', default_value='false'),
+        DeclareLaunchArgument('accel_rate', default_value='200hz'),
+        DeclareLaunchArgument('accel_range', default_value='4g'),
+        DeclareLaunchArgument('enable_gyro', default_value='false'),
+        DeclareLaunchArgument('gyro_rate', default_value='200hz'),
+        DeclareLaunchArgument('gyro_range', default_value='1000dps'),
+        DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
+        DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
+        DeclareLaunchArgument('publish_tf', default_value='true'),
+        DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
+        DeclareLaunchArgument('ir_info_url', default_value=''),
+        DeclareLaunchArgument('color_info_url', default_value=''),
+        # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
+        # If you do not want to automatically enumerate network devices,
+        # you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
+        DeclareLaunchArgument("enumerate_net_device", default_value="false"),
+        DeclareLaunchArgument("net_device_ip", default_value=""),
+        DeclareLaunchArgument("net_device_port", default_value="0"),
+        DeclareLaunchArgument("exposure_range_mode", default_value="default"),#default, ultimate or regular
+        DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
+        DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
+        DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
+        DeclareLaunchArgument('enable_ldp', default_value='true'),
+        DeclareLaunchArgument('ldp_power_level', default_value='-1'),
+        DeclareLaunchArgument('enable_soft_filter', default_value='true'),
+        DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
+        DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
+        DeclareLaunchArgument('sync_mode', default_value='standalone'),
+        DeclareLaunchArgument('depth_delay_us', default_value='0'),
+        DeclareLaunchArgument('color_delay_us', default_value='0'),
+        DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
+        DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
+        DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
+        DeclareLaunchArgument('enable_frame_sync', default_value='true'),
+        DeclareLaunchArgument('ordered_pc', default_value='false'),
+        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
+        DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
+        DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
+        DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
+        DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
+        DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
+        DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
+        DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
+        DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
+        DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
+        DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
+        DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
+        DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
+        DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'),
+        DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
+        DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
+        DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
+        DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
+        DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
+        DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
+        DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
+        DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
+        DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
+        DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
+        DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
+        DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
+        DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
+        DeclareLaunchArgument('align_mode', default_value='SW'),
+        DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
+        DeclareLaunchArgument('enable_laser', default_value='true'),
+        DeclareLaunchArgument('depth_precision', default_value=''),
+        DeclareLaunchArgument('device_preset', default_value='Default'),
+        DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
+        DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('config_file_path', default_value=''),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
+        DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
+        DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
+        DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
+        DeclareLaunchArgument('disparity_offset_config', default_value='false'),
+        DeclareLaunchArgument('offset_index0', default_value='-1'),
+        DeclareLaunchArgument('offset_index1', default_value='-1'),
+        DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
+        DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
+        DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
+        DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
+        DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir  1: skip flood ir
+
+        DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
+        DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
+        DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
+        DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
+        DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
+        DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
+        DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
+        DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
+        DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
+        DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
+
+        DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
+        DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
+        DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
+        DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
+        DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
+        DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
+        DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
+        DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
+        DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
+        DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
+        DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
+        DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
+        DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
+
+    ]
+
+    def get_params(context, args):
+        return [load_parameters(context, args)]
+
+    def create_node_action(context, args):
+        params = get_params(context, args)
+        ros_distro = os.environ.get("ROS_DISTRO", "humble")
+        if ros_distro == "foxy":
+            return [
+                Node(
+                    package="orbbec_camera",
+                    executable="orbbec_camera_node",
+                    name="ob_camera_node",
+                    namespace=LaunchConfiguration("camera_name"),
+                    parameters=params,
+                    output="screen",
+                )
+            ]
+        else:
+            attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
+            component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
+
+            orbbec_container = Node(
+                name=component_container_name_arg,
+                package='rclcpp_components',
+                executable='component_container_mt',
+                output='screen',
+                condition=UnlessCondition(attach_to_shared_component_container_arg)
+            )
+            return [
+                orbbec_container,
+                LoadComposableNodes(
+                  target_container=component_container_name_arg,
+                  composable_node_descriptions=[
+                    ComposableNode(
+                      namespace=LaunchConfiguration("camera_name"),
+                      name=LaunchConfiguration("camera_name"),
+                      package='orbbec_camera',
+                      plugin='orbbec_camera::OBCameraNodeDriver',
+                      parameters=params,
+                      extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
+                    )
+                  ]
+                )
+            ]
+
+    return LaunchDescription(
+        args + [
+            OpaqueFunction(function=lambda context: create_node_action(context, args))
+        ]
+    )

orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py

@@ -0,0 +1,108 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node, LoadComposableNodes
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import UnlessCondition, IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import TextSubstitution
+from launch_ros.descriptions import ComposableNode
+
+
+def load_yaml(file_path):
+    with open(file_path, "r") as f:
+        return yaml.safe_load(f)
+
+
+def merge_params(default_params, yaml_params):
+    for key, value in yaml_params.items():
+        if key in default_params:
+            default_params[key] = value
+    return default_params
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == "true":
+            return True
+        elif value.lower() == "false":
+            return False
+    return value
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(
+        package_dir, "examples/gmsl_camera"
+    )
+    config_file_dir = os.path.join(package_dir, "config")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
+
+    attach_to_shared_component_container_arg = LaunchConfiguration(
+        "attach_to_shared_component_container", default=False
+    )
+    component_container_name_arg = LaunchConfiguration(
+        "component_container_name", default="shared_orbbec_container"
+    )
+
+    shared_orbbec_container = Node(
+        name=component_container_name_arg,
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
+        condition=UnlessCondition(attach_to_shared_component_container_arg),
+    )
+
+    attach_to_shared_component_container_arg = TextSubstitution(text="true")
+
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "gmsl2-1",
+            "device_num": "2",
+            "sync_mode": "standalone",
+            "config_file_path": secondary_config_file_path,
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "gmsl2-3",
+            "device_num": "2",
+            "sync_mode": "standalone",
+            "config_file_path": secondary_config_file_path,
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
+        }.items(),
+    )
+
+    # Launch description
+    ld = LaunchDescription(
+        [
+            shared_orbbec_container,
+            TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
+        ]
+    )
+
+    return ld

orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py

@@ -1,56 +1,109 @@
 import os
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch_ros.actions import Node
+from launch_ros.actions import Node, LoadComposableNodes
 from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import UnlessCondition, IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import TextSubstitution
+from launch_ros.descriptions import ComposableNode
+
+
+def load_yaml(file_path):
+    with open(file_path, "r") as f:
+        return yaml.safe_load(f)
+
+
+def merge_params(default_params, yaml_params):
+    for key, value in yaml_params.items():
+        if key in default_params:
+            default_params[key] = value
+    return default_params
+
+
+def convert_value(value):
+    if isinstance(value, str):
+        try:
+            return int(value)
+        except ValueError:
+            pass
+        try:
+            return float(value)
+        except ValueError:
+            pass
+        if value.lower() == "true":
+            return True
+        elif value.lower() == "false":
+            return False
+    return value
 
 
 def generate_launch_description():
     # Include launch files
     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, "examples/gmsl_camera"
+    )
     config_file_dir = os.path.join(package_dir, "config")
-    config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
+
+    attach_to_shared_component_container_arg = LaunchConfiguration(
+        "attach_to_shared_component_container", default=False
+    )
+    component_container_name_arg = LaunchConfiguration(
+        "component_container_name", default="shared_orbbec_container"
+    )
+
+    shared_orbbec_container = Node(
+        name=component_container_name_arg,
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
+        condition=UnlessCondition(attach_to_shared_component_container_arg),
+    )
+
+    attach_to_shared_component_container_arg = TextSubstitution(text="true")
 
     launch1_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
         ),
         launch_arguments={
             "camera_name": "camera_01",
             "usb_port": "gmsl2-1",
             "device_num": "2",
             "sync_mode": "secondary_synced",
-            "config_file_path": config_file_path,
-            "trigger_out_enabled": "false",
             "gmsl_trigger_fps": "3000",
             "enable_gmsl_trigger": "true",
+            "config_file_path": secondary_config_file_path,
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
+            "component_container_name": component_container_name_arg,
         }.items(),
     )
 
     launch2_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
         ),
         launch_arguments={
             "camera_name": "camera_02",
             "usb_port": "gmsl2-3",
             "device_num": "2",
             "sync_mode": "secondary_synced",
-            "config_file_path": config_file_path,
+            "config_file_path": secondary_config_file_path,
-            "trigger_out_enabled": "false",
+            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
-            "enable_gmsl_trigger": "false",
+            "component_container_name": component_container_name_arg,
         }.items(),
     )
 
-
     # Launch description
     ld = LaunchDescription(
         [
-            # The sending the gmsl_trigger signal gsml camera should be launched at lfirst
+            shared_orbbec_container,
-            TimerAction(period=0.0, actions=[GroupAction([launch1_include])]),
+            TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
-            TimerAction(period=2.0, actions=[GroupAction([launch2_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
         ]
     )