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modify for 4 G335L multi camera sync

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datean
2024-11-20 14:10:44 +08:00
parent b9c8edf3b1
commit 4ca6f60a81
4 changed files with 42 additions and 53 deletions
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orbbec_camera/launch/multi_camera_synced.launch.py
+30 -44
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@@ -13,67 +13,54 @@ def generate_launch_description():
config_file_dir = os.path.join(package_dir, "config")
config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
G0_4J = IncludeLaunchDescription(
G0_51 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G0_4J",
"usb_port": "2-7",
"device_num": "5",
"sync_mode": "standalone",
"camera_name": "G0_51",
"usb_port": "2-2",
"device_num": "4",
"sync_mode": "primary",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G1_F0 = IncludeLaunchDescription(
G1_54 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G1_F0",
"usb_port": "2-2",
"device_num": "5",
"sync_mode": "standalone",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G2_15 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G2_15",
"usb_port": "2-1",
"device_num": "5",
"sync_mode": "standalone",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G3_1M = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G3_1M",
"usb_port": "2-1.4.3",
"device_num": "5",
"camera_name": "G1_54",
"usb_port": "2-3.3",
"device_num": "4",
"sync_mode": "secondary_synced",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G4_74 = IncludeLaunchDescription(
G2_5Y = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G4_74",
"usb_port": "2-1.4.4.1",
"device_num": "5",
"camera_name": "G2_5Y",
"usb_port": "2-3.1",
"device_num": "4",
"sync_mode": "secondary_synced",
"enable_left_ir":"true",
"config_file_path": config_file_path,
}.items(),
)
G3_47 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
),
launch_arguments={
"camera_name": "G3_47",
"usb_port": "2-1",
"device_num": "4",
"sync_mode": "secondary_synced",
"enable_left_ir":"true",
"config_file_path": config_file_path,
@@ -95,11 +82,10 @@ def generate_launch_description():
TimerAction(
period=2.0,
actions=[
TimerAction(period=0.2, actions=[GroupAction([G1_F0])]),
TimerAction(period=0.2, actions=[GroupAction([G2_15])]),
# TimerAction(period=0.2, actions=[GroupAction([G3_1M])]),
# TimerAction(period=0.2, actions=[GroupAction([G4_74])]),
TimerAction(period=0.2, actions=[GroupAction([G0_4J])]),
TimerAction(period=0.5, actions=[GroupAction([G1_54])]),
TimerAction(period=0.5, actions=[GroupAction([G2_5Y])]),
TimerAction(period=0.5, actions=[GroupAction([G3_47])]),
TimerAction(period=0.5, actions=[GroupAction([G0_51])]),
],
),
# The primary camera should be launched at last