From 425a9c8a03898d06c0d40c8180ec4ce3df7465d0 Mon Sep 17 00:00:00 2001
From: Joe Dong <jian.dong@pobox.com>
Date: Sat, 22 Jul 2023 17:07:54 +0800
Subject: [PATCH] update readme

---
 README.MD                              |   4 +-
 README_CN.MD                           |   4 +-
 orbbec_camera/launch/astra2.launch.xml | 102 +++++++++++++++++++++++++
 3 files changed, 108 insertions(+), 2 deletions(-)
 create mode 100644 orbbec_camera/launch/astra2.launch.xml

diff --git a/README.MD b/README.MD
index dcb1ba7b..ac32b9e3 100644
--- a/README.MD
+++ b/README.MD
@@ -288,7 +288,9 @@ The following are the launch parameters available:
 
 | product serials     | launch file               |
 |---------------------|---------------------------|
-| asta+               | astra_adv.launch.xml      |
+| astra+              | astra_adv.launch.xml      |
+| astra               | astra.launch.xml          |
+| astra2              | astra2.launch.xml         |
 | astra mini          | astra_mini.launch.xml     |
 | astra mini pro      | astra_mini_pro.launch.xml |
 | astra pro           | astra_pro.launch.xml      |
diff --git a/README_CN.MD b/README_CN.MD
index 1db62727..97f0370d 100644
--- a/README_CN.MD
+++ b/README_CN.MD
@@ -278,7 +278,9 @@ ros2 launch orbbec_camera multi_camera.launch.xml
 
 | product serials     | launch file               |
 |---------------------|---------------------------|
-| asta+               | astra_adv.launch.xml      |
+| astra+              | astra_adv.launch.xml      |
+| astra               | astra.launch.xml          |
+| astra2              | astra2.launch.xml         |
 | astra mini          | astra_mini.launch.xml     |
 | astra mini pro      | astra_mini_pro.launch.xml |
 | astra pro           | astra_pro.launch.xml      |
diff --git a/orbbec_camera/launch/astra2.launch.xml b/orbbec_camera/launch/astra2.launch.xml
new file mode 100644
index 00000000..5d2be827
--- /dev/null
+++ b/orbbec_camera/launch/astra2.launch.xml
@@ -0,0 +1,102 @@
+<launch>
+    <!-- unique camera name-->
+    <arg name="camera_name" default="camera"/>
+    <!-- Hardware depth registration -->
+    <arg name="depth_registration" default="false"/>
+    <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
+    <arg name="device_num" default="1"/>
+    <arg name="vendor_id" default="0x2bc5"/>
+    <arg name="product_id" default=""/>
+    <arg name="enable_point_cloud" default="true"/>
+    <arg name="enable_colored_point_cloud" default="false"/>
+    <arg name="point_cloud_qos" default="default"/>
+    <arg name="connection_delay" default="100"/>
+    <arg name="color_width" default="1280"/>
+    <arg name="color_height" default="720"/>
+    <arg name="color_fps" default="30"/>
+    <arg name="color_format" default="MJPG"/>
+    <arg name="enable_color" default="true"/>
+    <arg name="flip_color" default="false"/>
+    <arg name="color_qos" default="default"/>
+    <arg name="color_camera_info_qos" default="default"/>
+    <arg name="enable_color_auto_exposure" default="true"/>
+    <arg name="depth_width" default="800"/>
+    <arg name="depth_height" default="600"/>
+    <arg name="depth_fps" default="30"/>
+    <arg name="depth_format" default="RLE"/>
+    <arg name="enable_depth" default="true"/>
+    <arg name="flip_depth" default="false"/>
+    <arg name="depth_qos" default="default"/>
+    <arg name="depth_camera_info_qos" default="default"/>
+    <arg name="ir_width" default="800"/>
+    <arg name="ir_height" default="600"/>
+    <arg name="ir_fps" default="Y8"/>
+    <arg name="ir_format" default="Y10"/>
+    <arg name="enable_ir" default="true"/>
+    <arg name="flip_ir" default="false"/>
+    <arg name="ir_qos" default="default"/>
+    <arg name="ir_camera_info_qos" default="default"/>
+    <arg name="enable_ir_auto_exposure" default="true"/>
+    <arg name="publish_tf" default="true"/>
+    <arg name="tf_publish_rate" default="10.0"/>
+    <arg name="ir_info_url" default=""/>
+    <arg name="color_info_url" default=""/>
+    <arg name="log_level" default="none"/>
+    <arg name="enable_publish_extrinsic" default="false"/>
+    <arg name="enable_d2c_viewer" default="false"/>
+    <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
+    <group>
+        <push-ros-namespace namespace="$(var camera_name)"/>
+        <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
+            <param name="camera_name" value="$(var camera_name)"/>
+            <param name="depth_registration" value="$(var depth_registration)"/>
+            <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
+            <param name="device_num" value="$(var device_num)"/>
+            <param name="vendor_id" value="$(var vendor_id)"/>
+            <param name="product_id" value="$(var product_id)"/>
+            <param name="enable_point_cloud" value="$(var enable_point_cloud)"/>
+            <param name="enable_colored_point_cloud" value="$(var enable_colored_point_cloud)"/>
+            <param name="point_cloud_qos" value="$(var point_cloud_qos)"/>
+            <param name="connection_delay" value="$(var connection_delay)"/>
+            <param name="color_width" value="$(var color_width)"/>
+            <param name="color_height" value="$(var color_height)"/>
+            <param name="color_fps" value="$(var color_fps)"/>
+            <param name="color_format" value="$(var color_format)"/>
+            <param name="enable_color" value="$(var enable_color)"/>
+            <param name="flip_color" value="$(var flip_color)"/>
+            <param name="color_qos" value="$(var color_qos)"/>
+            <param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
+            <param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
+            <param name="depth_width" value="$(var depth_width)"/>
+            <param name="depth_height" value="$(var depth_height)"/>
+            <param name="depth_fps" value="$(var depth_fps)"/>
+            <param name="depth_format" value="$(var depth_format)"/>
+            <param name="flip_depth" value="$(var flip_depth)"/>
+            <param name="enable_depth" value="$(var enable_depth)"/>
+            <param name="depth_qos" value="$(var depth_qos)"/>
+            <param name="depth_camera_info_qos" value="$(var depth_camera_info_qos)"/>
+            <param name="ir_width" value="$(var ir_width)"/>
+            <param name="ir_height" value="$(var ir_height)"/>
+            <param name="ir_fps" value="$(var ir_fps)"/>
+            <param name="ir_format" value="$(var ir_format)"/>
+            <param name="enable_ir" value="$(var enable_ir)"/>
+            <param name="flip_ir" value="$(var flip_ir)"/>
+            <param name="ir_qos" value="$(var ir_qos)"/>
+            <param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
+            <param name="enable_ir_auto_exposure" value="$(var enable_ir_auto_exposure)"/>
+            <param name="publish_tf" value="$(var publish_tf)"/>
+            <param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
+            <param name="ir_info_url" value="$(var ir_info_url)"/>
+            <param name="color_info_url" value="$(var color_info_url)"/>
+            <param name="log_level" value="$(var log_level)"/>
+            <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
+            <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
+            <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
+            <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
+        </node>
+    </group>
+</launch>