From 29670b5da8feef8684f3efe3e8788a5921c21e23 Mon Sep 17 00:00:00 2001
From: Joe Dong <jian.dong@pobox.com>
Date: Wed, 10 Jul 2024 18:14:05 +0800
Subject: [PATCH] add help scripts

---
 .../launch/multi_camera_synced.launch.py      |   6 +-
 .../scripts/generate_orbbec_launch.sh         | 111 ++++++++++++++++++
 2 files changed, 114 insertions(+), 3 deletions(-)
 create mode 100755 orbbec_camera/scripts/generate_orbbec_launch.sh

diff --git a/orbbec_camera/launch/multi_camera_synced.launch.py b/orbbec_camera/launch/multi_camera_synced.launch.py
index 0b4452de..8fdf5ad9 100644
--- a/orbbec_camera/launch/multi_camera_synced.launch.py
+++ b/orbbec_camera/launch/multi_camera_synced.launch.py
@@ -21,7 +21,7 @@ def generate_launch_description():
             'usb_port': '2-1.1',
             'device_num': '4',
             'sync_mode': 'primary',
-            'config_file': config_file_path,
+            'config_file_path': config_file_path,
         }.items()
     )
 
@@ -34,7 +34,7 @@ def generate_launch_description():
             'usb_port': '2-1.2.1',
             'device_num': '4',
             'sync_mode': 'secondary_synced',
-            'config_file': config_file_path,
+            'config_file_path': config_file_path,
         }.items()
     )
     launch3_include = IncludeLaunchDescription(
@@ -46,7 +46,7 @@ def generate_launch_description():
             'usb_port': '2-1.2.1',
             'device_num': '4',
             'sync_mode': 'secondary_synced',
-            'config_file': config_file_path,
+            'config_file_path': config_file_path,
         }.items()
     )
     launch4_include = IncludeLaunchDescription(
diff --git a/orbbec_camera/scripts/generate_orbbec_launch.sh b/orbbec_camera/scripts/generate_orbbec_launch.sh
new file mode 100755
index 00000000..74e5a129
--- /dev/null
+++ b/orbbec_camera/scripts/generate_orbbec_launch.sh
@@ -0,0 +1,111 @@
+#!/bin/bash
+
+# Define the vendor ID for Orbbec devices
+VID="2bc5"
+
+# Function to get USB port for a given serial number
+get_usb_port() {
+    local serial=$1
+    for dev in /sys/bus/usb/devices/*; do
+        if [ -e "$dev/idVendor" ]; then
+            vid=$(cat "$dev/idVendor")
+            if [ "$vid" == "${VID}" ]; then
+                dev_serial=$(cat "$dev/serial" 2>/dev/null)
+                if [ "$dev_serial" == "$serial" ]; then
+                    echo $(basename $dev)
+                    return
+                fi
+            fi
+        fi
+    done
+    echo "Unknown"
+}
+
+# Get USB ports for each camera
+front_port=$(get_usb_port "CP3S34D00051") # primary camera
+rear_port=$(get_usb_port "CP3L44P00047") # secondary-synced camera
+left_port=$(get_usb_port "CP3L44P0005Y") # secondary-synced camera
+right_port=$(get_usb_port "CP3L44P00054") #  secondary-synced camera
+
+# Generate the launch file
+cat << EOF > multi_camera_synced.launch.py
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+    package_dir = get_package_share_directory('orbbec_camera')
+    launch_file_dir = os.path.join(package_dir, 'launch')
+    config_file_dir = os.path.join(package_dir, 'config')
+    config_file_path = os.path.join(config_file_dir, 'camera_params.yaml')
+
+    front_camera = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'front_camera',
+            'usb_port': '$front_port',
+            'device_num': '4',
+            'sync_mode': 'primary',
+            'config_file_path': config_file_path
+
+        }.items()
+    )
+
+    rear_camera = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'rear_camera',
+            'usb_port': '$rear_port',
+            'device_num': '4',
+            'sync_mode': 'secondary_synced',
+            'config_file_path': config_file_path
+
+        }.items()
+    )
+
+    left_camera = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'left_camera',
+            'usb_port': '$left_port',
+            'device_num': '4',
+            'sync_mode': 'secondary_synced',
+            'config_file_path': config_file_path
+
+        }.items()
+    )
+
+    right_camera = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'right_camera',
+            'usb_port': '$right_port',
+            'device_num': '4',
+            'sync_mode': 'secondary_synced',
+            'config_file_path': config_file_path
+
+        }.items()
+    )
+
+    ld = LaunchDescription([
+        GroupAction([rear_camera]),
+        GroupAction([left_camera]),
+        GroupAction([right_camera]),
+        GroupAction([front_camera]),
+
+    ])
+
+    return ld
+EOF
+
+echo "Launch file 'multi_camera_synced.launch.py' has been generated."