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Joe Dong
2024-04-28 14:55:20 +08:00
parent 7cf23539d1
commit 1b53dd03a9
1 changed files with 3 additions and 21 deletions
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README.MD
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@@ -237,20 +237,12 @@ import os
def generate_launch_description(): def generate_launch_description():
# Node configuration
cleanup_node = Node(
package='orbbec_camera',
executable='ob_cleanup_shm_node',
name='camera',
output='screen'
)
# Include launch files # Include launch files
package_dir = get_package_share_directory('orbbec_camera') 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')
launch1_include = IncludeLaunchDescription( launch1_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini2.launch.py') os.path.join(launch_file_dir, 'gemini2L.launch.py')
), ),
launch_arguments={ launch_arguments={
'camera_name': 'camera_01', 'camera_name': 'camera_01',
@@ -261,7 +253,7 @@ def generate_launch_description():
launch2_include = IncludeLaunchDescription( launch2_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource( PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini2.launch.py') os.path.join(launch_file_dir, 'gemini2L.launch.py')
), ),
launch_arguments={ launch_arguments={
'camera_name': 'camera_02', 'camera_name': 'camera_02',
@@ -274,7 +266,6 @@ def generate_launch_description():
# Launch description # Launch description
ld = LaunchDescription([ ld = LaunchDescription([
cleanup_node,
GroupAction([launch1_include]), GroupAction([launch1_include]),
GroupAction([launch2_include]), GroupAction([launch2_include]),
]) ])
@@ -283,16 +274,6 @@ def generate_launch_description():
``` ```
- Note that the astra camera uses semaphores for process synchronization.
If the camera start fails, the semaphore file may be left in `/dev/shm`,
causing the next start to become stuck. To avoid this, run the following command before launching:
```bash
ros2 run orbbec_camera ob_cleanup_shm_node
```
This will clean up `/dev/shm/`.
- To launch the cameras, run the following command: - To launch the cameras, run the following command:
```bash ```bash
@@ -449,6 +430,7 @@ resolutions is as follows:
| dabai dw2 | dabai_dw2.launch.py | | dabai dw2 | dabai_dw2.launch.py |
| gemini ew | gemini_ew.launch.py | | gemini ew | gemini_ew.launch.py |
| gemini ew lite | gemini_ew_lite.launch.py | | gemini ew lite | gemini_ew_lite.launch.py |
| gemini 335/335L | gemini2R.launch.py |
Actually, All launch files all most the same, the only difference is the default value of the parameters. Actually, All launch files all most the same, the only difference is the default value of the parameters.