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Big refactoring code

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* Removal of unnecessary files
* Optimized multi-camera launch
* Explicitly list the parameters in the launch file
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默存
2023-02-06 17:26:10 +08:00
parent 04e4d4151e
commit 202719bd8c
59 changed files with 4931 additions and 806 deletions
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orbbec_camera/launch/multi_camera.launch.xml
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<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="3d_sensor" default="astra"/>
<!-- stereo_s_u3, astrapro, astra -->
<arg name="camera1_prefix" default="01"/>
<arg name="camera2_prefix" default="02"/>
<arg name="camera1_serila_number" default="ADA611300CE"/>
<arg name="camera2_serila_number" default="sn123456789"/>
<arg name="device_num" default="2"/>
<node name="camera" pkg="orbbec_camera" type="ob_cleanup_shm_node" output="screen"/>
<include file="$(find-pkg-share orbbec_camera)/launch/$(arg 3d_sensor).launch.xml">
<arg name="camera_name" value="$(var camera_name)_$(var camera1_prefix)"/>
<arg name="serial_number" value="$(var camera1_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
<include file="$(ind-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
<arg name="camera_name" value="$(var camera_name)_$(var camera2_prefix)"/>
<arg name="serial_number" value="$(var camera2_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
args="0 0 0 0 0 0 camera01_link camera02_link"/>
</launch>