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fixed multi device param name

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This commit is contained in:
Joe Dong
2023-09-05 18:40:51 +08:00
parent 1bc7f971d1
commit 1cc1dbb1ee
5 changed files with 42 additions and 20 deletions
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orbbec_camera/launch/gemini2.launch.py
+6
View File
@@ -67,6 +67,12 @@ def generate_launch_description():
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='free_run'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_signal_output_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_signal_output_enabled', default_value='false'),
]
# Node configuration
orbbec_camera/launch/gemini2.launch.xml
+12 -10
View File
@@ -58,11 +58,12 @@
<arg name="enable_soft_filter" default="true"/>
<arg name="soft_filter_max_diff" default="-1"/>
<arg name="soft_filter_speckle_size" default="-1"/>
<arg name="sync_mode" default="close"/>
<arg name="ir_trigger_signal_in_delay" default="0"/>
<arg name="rgb_trigger_signal_in_delay" default="0"/>
<arg name="device_trigger_signal_out_delay" default="0"/>
<arg name="sync_signal_trigger_out" default="false"/>
<arg name="sync_mode" default="free_run"/>
<arg name="depth_delay_us" default="0"/>
<arg name="color_delay_us" default="0"/>
<arg name="trigger2image_delay_us" default="0"/>
<arg name="trigger_signal_output_delay_us" default="0"/>
<arg name="trigger_signal_output_enabled" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -123,11 +124,12 @@
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="soft_filter_max_diff" value="$(var soft_filter_max_diff)"/>
<param name="soft_filter_speckle_size" value="$(var soft_filter_speckle_size)"/>
<param name="sync_mode" value="$(var sync_mode)"/>
<param name="ir_trigger_signal_in_delay" value="$(var ir_trigger_signal_in_delay)"/>
<param name="rgb_trigger_signal_in_delay" value="$(var rgb_trigger_signal_in_delay)"/>
<param name="device_trigger_signal_out_delay" value="$(var device_trigger_signal_out_delay)"/>
<param name="sync_signal_trigger_out" value="$(var sync_signal_trigger_out)"/>
<param name="sync_mode" value="$(arg sync_mode)"/>
<param name="depth_delay_us" value="$(arg depth_delay_us)"/>
<param name="color_delay_us" value="$(arg color_delay_us)"/>
<param name="trigger2image_delay_us" value="$(arg trigger2image_delay_us)"/>
<param name="trigger_signal_output_delay_us" value="$(arg trigger_signal_output_delay_us)"/>
<param name="trigger_signal_output_enabled" value="$(arg trigger_signal_output_enabled)"/>
<param name="enable_ldp" value="$(var enable_ldp)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
orbbec_camera/launch/gemini2L.launch.py
+6
View File
@@ -67,6 +67,12 @@ def generate_launch_description():
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='free_run'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_signal_output_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_signal_output_enabled', default_value='false'),
]
# Node configuration
orbbec_camera/launch/gemini2L.launch.xml
+12 -10
View File
@@ -57,11 +57,12 @@
<arg name="enable_soft_filter" default="true"/>
<arg name="soft_filter_max_diff" default="-1"/>
<arg name="soft_filter_speckle_size" default="-1"/>
<arg name="sync_mode" default="close"/>
<arg name="ir_trigger_signal_in_delay" default="0"/>
<arg name="rgb_trigger_signal_in_delay" default="0"/>
<arg name="device_trigger_signal_out_delay" default="0"/>
<arg name="sync_signal_trigger_out" default="false"/>
<arg name="sync_mode" default="free_run"/>
<arg name="depth_delay_us" default="0"/>
<arg name="color_delay_us" default="0"/>
<arg name="trigger2image_delay_us" default="0"/>
<arg name="trigger_signal_output_delay_us" default="0"/>
<arg name="trigger_signal_output_enabled" default="false"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -121,11 +122,12 @@
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="soft_filter_max_diff" value="$(var soft_filter_max_diff)"/>
<param name="soft_filter_speckle_size" value="$(var soft_filter_speckle_size)"/>
<param name="sync_mode" value="$(var sync_mode)"/>
<param name="ir_trigger_signal_in_delay" value="$(var ir_trigger_signal_in_delay)"/>
<param name="rgb_trigger_signal_in_delay" value="$(var rgb_trigger_signal_in_delay)"/>
<param name="device_trigger_signal_out_delay" value="$(var device_trigger_signal_out_delay)"/>
<param name="sync_signal_trigger_out" value="$(var sync_signal_trigger_out)"/>
<param name="sync_mode" value="$(arg sync_mode)"/>
<param name="depth_delay_us" value="$(arg depth_delay_us)"/>
<param name="color_delay_us" value="$(arg color_delay_us)"/>
<param name="trigger2image_delay_us" value="$(arg trigger2image_delay_us)"/>
<param name="trigger_signal_output_delay_us" value="$(arg trigger_signal_output_delay_us)"/>
<param name="trigger_signal_output_enabled" value="$(arg trigger_signal_output_enabled)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>
orbbec_camera/launch/gemini2XL.launch.py
+6
View File
@@ -75,6 +75,12 @@ def generate_launch_description():
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='free_run'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_signal_output_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_signal_output_enabled', default_value='false'),
]
# Node configuration