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docs/source/4_start_multi_camera/multi_camera.rst

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+.. 这一页是模块目录树
+
+.. .. image:: ../image/product_h4.png
+
+.. image:: ../image/product_h5.png
+
+======================================================
+
+Multiple cameras
+======================================================
+
+    This section describes how to configure and use multiple Orbbec cameras simultaneously in a ROS 2 environment.
+
+
+
+======================================================
+
+.. toctree::
+    :maxdepth: 2
+    :caption: This Section Covers:
+
+
+
+    start_multi_camera.md
+
+
+
+======================================================
+
+.. image:: ../image/product_h1.png

docs/source/4_start_multi_camera/start_multi_camera.md

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+<!-- docs/source/4_start_multi_camera/start_multi_camera.md -->
+
+# Multiple cameras
+
+This section describes how to configure and use multiple Orbbec cameras simultaneously in a ROS 2 environment.
+
+- Table of contents
+  - [Script to list connected cameras](#script-to-list-connected-cameras)
+  - [Setup for multiple camera launch](#setup-for-multiple-camera-launch)
+  - [Running the launch file](#running-the-launch-file)
+  - [Configuring the TF tree for multiple cameras](#configuring-the-tf-tree-for-multiple-cameras)
+  - [Example TF configuration for two cameras](#example-tf-configuration-for-two-cameras)
+
+
+## List connected cameras
+
+To determine which USB ports the cameras are connected to, you can execute the following command.
+This Command lists all Orbbec devices attached to the system along with their USB port and serial number:
+
+```bash
+$ ros2 run orbbec_camera list_devices_node
+
+```
+
+As follows:
+
+```
+USB port_id: 4-1.1-3
+Modified USB port_id: 4-1.1
+[INFO]serial: CP7X54P0004D
+[INFO]usb port: 4-1.1
+[INFO]usb connect type: USB3.2
+USB port_id: 4-1.2-5
+Modified USB port_id: 4-1.2
+[INFO]serial: CP7X54P000AA
+[INFO]usb port: 4-1.2
+[INFO]usb connect type: USB3.2
+```
+
+From the log above, it appears that the two USB cameras you are connected to are using USB ports **4-1.1 and 4-1.2**.
+
+## Setup for multiple camera launch
+
+You can launch multiple cameras by specifying different USB ports for each camera. You can refer to orbbec_multicamera.launch.py to implement the multicamera launch script you need..
+
+## Running the launch file
+
+To execute the launch configuration for multiple cameras, use the command:
+
+```
+ros2 launch orbbec_camera orbbec_multicamera.launch.py config_file_path:=multicamera.yaml
+```
+
+**Note:**
+
+1. Multiple devices default config reference config/multicamera.yaml
+2. Multiple cameras synced  config reference config/multicamera_synced.yaml
+
+## Example TF configuration for two cameras
+
+When using multiple cameras, it's essential to calibrate them and publish a static TF tree for each camera. The following Python script configures the TF tree based on your calibration results:
+
+```python
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+# Define the extrinsics for each camera (x, y, z, roll, pitch, yaw)
+camera_01_transform = ['0.1', '0', '0.2', '0', '0', '1.57']  # Example parameters
+camera_02_transform = ['-0.1', '0', '0.2', '0', '0', '-1.57']  # Example parameters
+
+def generate_launch_description():
+    ld = LaunchDescription([
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            name='camera_01_tf',
+            arguments=camera_01_transform + ['base_link', 'camera_01_link'],
+            output='screen'
+        ),
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            name='camera_02_tf',
+            arguments=camera_02_transform + ['base_link', 'camera_02_link'],
+            output='screen'
+        )
+    ])
+
+    return ld
+
+```
+
+Save this configuration as `multi_camera_tf.launch.py` in the launch directory of the Orbbec camera package. To run it, use:
+
+```bash
+ros2 launch orbbec_camera multi_camera_tf.launch.py
+```