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update to v2.0.7

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jj
2024-10-21 18:31:11 +08:00
parent 99d35d9138
commit 0de68ca4d3
60 changed files with 1086 additions and 3763 deletions
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orbbec_camera/launch/multi_camera_synced.launch.py
+38 -34
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@@ -18,58 +18,62 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "front_camera",
"usb_port": "2-6",
"device_num": "3",
"sync_mode": "software_triggering",
"usb_port": "gmsl2-1",
"device_num": "2",
"sync_mode": "hardware_triggering",
"config_file_path": config_file_path,
"enable_gmsl_trigger": "true",
}.items(),
)
left_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series.launch.py")
),
launch_arguments={
"camera_name": "left_camera",
"usb_port": "2-1.2.1",
"device_num": "3",
"sync_mode": "hardware_triggering",
"config_file_path": config_file_path,
}.items(),
)
rear_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series.launch.py")
),
launch_arguments={
"camera_name": "rear_camera",
"usb_port": "2-3",
"device_num": "3",
"sync_mode": "hardware_triggering",
"config_file_path": config_file_path,
}.items(),
)
# left_camera = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(launch_file_dir, "gemini_330_series.launch.py")
# ),
# launch_arguments={
# "camera_name": "left_camera",
# "usb_port": "gmsl2-2",
# "device_num": "3",
# "sync_mode": "secondary",
# "config_file_path": config_file_path,
# "enable_gmsl_trigger": "false",
# }.items(),
# )
right_camera = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series.launch.py")
),
launch_arguments={
"camera_name": "right_camera",
"usb_port": "2-7",
"device_num": "3",
"usb_port": "gmsl2-3",
"device_num": "2",
"sync_mode": "hardware_triggering",
"config_file_path": config_file_path,
"enable_gmsl_trigger": "false",
}.items(),
)
# rear_camera = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(launch_file_dir, "gemini_330_series.launch.py")
# ),
# launch_arguments={
# "camera_name": "rear_camera",
# "usb_port": "gmsl2-4",
# "device_num": "3",
# "sync_mode": "secondary",
# "config_file_path": config_file_path,
# "enable_gmsl_trigger": "false",
# }.items(),
# )
# Launch description
ld = LaunchDescription(
[
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
# TimerAction(period=0.5, actions=[GroupAction([rear_camera])]),
TimerAction(period=0.5, actions=[GroupAction([right_camera])]),
# TimerAction(period=0.5, actions=[GroupAction([left_camera])]),
TimerAction(period=0.5, actions=[GroupAction([front_camera])]),
# The primary camera should be launched at last
]
)