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Joe Dong
2023-05-10 13:56:04 +08:00
parent ba00546690
commit 1e32a74e09
2 changed files with 3 additions and 10 deletions
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README.MD
+1 -8
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@@ -81,12 +81,6 @@ ros2 service list
ros2 param list ros2 param list
``` ```
- Show depth to color extrinsic
```bash
ros2 topic echo --qos-durability=transient_local /camera/extrinsic/depth_to_color --qos-profile=services_default
```
- Get device info - Get device info
```bash ```bash
@@ -205,10 +199,9 @@ ros2 run orbbec_camera list_devices_node
- Set the `device_num` parameter to the number of cameras you have. - Set the `device_num` parameter to the number of cameras you have.
- Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.xml` file and change the serial number. Currently, - Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.xml` file and change the serial number. Currently,
different cameras can only be differentiated by their serial number. different cameras can only be differentiated by their serial number.
- Don't forget to put the `include` tag inside the `group` tag. - Don't forget to put the `include` tag inside the `group` tag.
Otherwise, the parameter values of different cameras may become contaminated. Otherwise, the parameter values of different cameras may become contaminated.
```xml ```xml
<launch> <launch>
orbbec_camera/launch/multi_camera.launch.xml
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@@ -6,8 +6,8 @@
<!-- stereo_s_u3, astrapro, astra --> <!-- stereo_s_u3, astrapro, astra -->
<arg name="camera1_prefix" default="01"/> <arg name="camera1_prefix" default="01"/>
<arg name="camera2_prefix" default="02"/> <arg name="camera2_prefix" default="02"/>
<arg name="camera1_serila_number" default="AY3JB20003C"/> <arg name="camera1_serila_number" default="AY3A131007R"/>
<arg name="camera2_serila_number" default="AY3JB20001L"/> <arg name="camera2_serila_number" default="AY3JB20003L"/>
<arg name="device_num" default="2"/> <arg name="device_num" default="2"/>
<node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/> <node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/>
<group> <group>