i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-09 22:29:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

add Documents

Browse Source
This commit is contained in:
obyalian
2025-09-12 10:42:29 +08:00
parent 2d2a4e0ec6
commit 52bff11d03
54 changed files with 3884 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/source/5_advanced_guide/gmsl_camera.md
+50
View File
@@ -0,0 +1,50 @@
# GMSL_camera
> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.
## Single GMSL camera
The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.
```bash
ros2 launch orbbec_camera gemini_330_gmsl.launch.py
```
## Multi GMSL camera
To get the `usb_port` of the GMSL camera, plug in the camera and run the following command in the terminal:
```bash
ros2 run orbbec_camera list_devices_node
```
For example, the obtained gmsl camera `usb_port`: `gmsl2-1`
Go to the [multi_gmsl_camera.launch.py](./multi_gmsl_camera.launch.py) file and change the `usb_port`.
```bash
ros2 launch orbbec_camera multi_gmsl_camera.launch.py
```
> Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) to modify them.
## Multi GMSL camera synced
First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD).
In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the `primary` mode. Each GMSL camera is `secondary`.
### Additional Parameter Settings
* `gmsl_trigger_fps` : set hardware soc trigger source frame rate.
* `enable_gmsl_trigger` : enable hardware soc trigger.
### Run the launch
Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](multi_gmsl_camera_synced.launch.py)
```bash
ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py
```
> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) and [camera_params.yaml](../../config/camera_params.yaml) to modify them.