From 1cc1dbb1eee1435b290a3f0fb956da32892c0959 Mon Sep 17 00:00:00 2001
From: Joe Dong <jian.dong@pobox.com>
Date: Tue, 5 Sep 2023 18:40:51 +0800
Subject: [PATCH] fixed multi device param name

---
 orbbec_camera/launch/gemini2.launch.py   |  6 ++++++
 orbbec_camera/launch/gemini2.launch.xml  | 22 ++++++++++++----------
 orbbec_camera/launch/gemini2L.launch.py  |  6 ++++++
 orbbec_camera/launch/gemini2L.launch.xml | 22 ++++++++++++----------
 orbbec_camera/launch/gemini2XL.launch.py |  6 ++++++
 5 files changed, 42 insertions(+), 20 deletions(-)

diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py
index 91c58c23..f030c2c8 100644
--- a/orbbec_camera/launch/gemini2.launch.py
+++ b/orbbec_camera/launch/gemini2.launch.py
@@ -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
diff --git a/orbbec_camera/launch/gemini2.launch.xml b/orbbec_camera/launch/gemini2.launch.xml
index 589f1f08..8c317999 100644
--- a/orbbec_camera/launch/gemini2.launch.xml
+++ b/orbbec_camera/launch/gemini2.launch.xml
@@ -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>
diff --git a/orbbec_camera/launch/gemini2L.launch.py b/orbbec_camera/launch/gemini2L.launch.py
index f5a32e3a..151cfb73 100644
--- a/orbbec_camera/launch/gemini2L.launch.py
+++ b/orbbec_camera/launch/gemini2L.launch.py
@@ -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
diff --git a/orbbec_camera/launch/gemini2L.launch.xml b/orbbec_camera/launch/gemini2L.launch.xml
index 5968a442..c139533a 100644
--- a/orbbec_camera/launch/gemini2L.launch.xml
+++ b/orbbec_camera/launch/gemini2L.launch.xml
@@ -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>
diff --git a/orbbec_camera/launch/gemini2XL.launch.py b/orbbec_camera/launch/gemini2XL.launch.py
index 97b48cac..26529ec2 100644
--- a/orbbec_camera/launch/gemini2XL.launch.py
+++ b/orbbec_camera/launch/gemini2XL.launch.py
@@ -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