[launch]Update multi_camera_synced_components.launch.py

orbbec_camera/launch/multi_camera_synced_components.launch.py

@@ -1,12 +1,15 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
 import os
+import time
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.event_handlers import OnProcessExit
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
 from launch.conditions import UnlessCondition, IfCondition
 from launch.substitutions import LaunchConfiguration
-from launch.actions import TimerAction
+from launch.substitutions import TextSubstitution
 def generate_launch_description():
     # Include launch files
     package_dir = get_package_share_directory("orbbec_camera")
@@ -15,50 +18,57 @@ def generate_launch_description():
     config_file_335_path = os.path.join(config_file_dir, "camera_335_params.yaml")
     config_file_335L_path = os.path.join(config_file_dir, "camera_335L_params.yaml")
 
-    use_intra_process_comms_arg = DeclareLaunchArgument(
+    use_intra_process_comms_declare = DeclareLaunchArgument(
         'use_intra_process_comms', default_value='false',
     )
-    attach_to_shared_component_container_arg = DeclareLaunchArgument(
+    attach_to_shared_component_container_declare = DeclareLaunchArgument(
         'attach_to_shared_component_container', default_value='false',
     )
+    component_container_name_declare = DeclareLaunchArgument(
+      'component_container_name', default_value='shared_orbbec_container'
+    )
 
-    shared_container_name = "shared_orbbec_container"
+    attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
-    shared_container = Node(
+    component_container_name_arg = LaunchConfiguration('component_container_name', default='shared_orbbec_container')
-        name=shared_container_name,
+
+    shared_orbbec_container = Node(
+        name=component_container_name_arg,
         package='rclcpp_components',
         executable='component_container_mt',
         output='screen',
-        condition=IfCondition(LaunchConfiguration('attach_to_shared_component_container'))
+        condition=UnlessCondition(attach_to_shared_component_container_arg)
     )
 
-    G0_6D = IncludeLaunchDescription(
+    attach_to_shared_component_container_arg = TextSubstitution(text='true')
+
+    G0_41 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
         ),
         launch_arguments={
-            "camera_name": "G0_6D",
+            "camera_name": "G0_41",
-            "usb_port": "2-3.2",
+            "usb_port": "2-7",
             "device_num": "2",
             "sync_mode": "primary",
             'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
-            'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
+            'attach_to_shared_component_container': attach_to_shared_component_container_arg,
-            'component_container_name': shared_container_name,
+            'component_container_name': component_container_name_arg,
             "config_file_path": config_file_335_path,
         }.items(),
     )
 
-    G1_6H = IncludeLaunchDescription(
+    G1_50 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335_components.launch.py")
         ),
         launch_arguments={
-            "camera_name": "G1_6H",
+            "camera_name": "G1_50",
-            "usb_port": "2-3.1",
+            "usb_port": "2-1",
             "device_num": "2",
             "sync_mode": "secondary_synced",
             'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
-            'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
+            'attach_to_shared_component_container': attach_to_shared_component_container_arg,
-            'component_container_name': shared_container_name,
+            'component_container_name': component_container_name_arg,
             "config_file_path": config_file_335_path,
         }.items(),
     )
@@ -66,14 +76,13 @@ def generate_launch_description():
 
     # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
 
-
-
     ld = LaunchDescription([
-        use_intra_process_comms_arg,
+        use_intra_process_comms_declare,
-        attach_to_shared_component_container_arg,
+        attach_to_shared_component_container_declare,
-        shared_container,
+        component_container_name_declare,
-        GroupAction([G0_6D]),
+        shared_orbbec_container,
-        TimerAction(period=0.5, actions=[GroupAction([G1_6H])]),
+        G1_50,
+        TimerAction(period=3.0, actions=[G0_41]),
     ])
 
     return ld