From 521fb201ac2f53201241af6d8791a72453751edb Mon Sep 17 00:00:00 2001
From: slz <shenlanzhou@orbbec.com>
Date: Thu, 20 Nov 2025 19:36:33 +0800
Subject: [PATCH] Add multi lidar launch configuration

---
 orbbec_camera/launch/multi_lidar.launch.py | 45 ++++++++++++++++++++++
 1 file changed, 45 insertions(+)
 create mode 100644 orbbec_camera/launch/multi_lidar.launch.py

diff --git a/orbbec_camera/launch/multi_lidar.launch.py b/orbbec_camera/launch/multi_lidar.launch.py
new file mode 100644
index 00000000..911f6e2b
--- /dev/null
+++ b/orbbec_camera/launch/multi_lidar.launch.py
@@ -0,0 +1,45 @@
+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
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory('orbbec_camera')
+    launch_file_dir = os.path.join(package_dir, 'launch')
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'lidar.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'lidar_01',
+            'device_num': '2',
+            'net_device_ip': '192.168.1.100',
+            'net_device_port': '2228',
+        }.items()
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'lidar.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'lidar_02',
+            'device_num': '2',
+            'net_device_ip': '192.168.1.101',
+            'net_device_port': '2228',
+        }.items()
+    )
+
+    # If you need more lidar, just add more launch_include here, and change the net_device_ip and net_device_port
+
+    # Launch description
+    ld = LaunchDescription([
+        GroupAction([launch1_include]),
+        GroupAction([launch2_include]),
+    ])
+
+    return ld