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Update orbbec_camera package to be compatible with cuvslam

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This commit is contained in:
jj
2025-04-26 18:12:18 +08:00
parent 3c4764f8ca
commit 5bd616cb90
213 changed files with 2964 additions and 7751 deletions
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orbbec_camera/launch/multi_camera.launch.py
+20 -5
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@@ -16,7 +16,7 @@ def generate_launch_description():
),
launch_arguments={
'camera_name': 'camera_01',
'usb_port': '2-1',
'usb_port': 'gmsl2-1',
'device_num': '2',
'sync_mode': 'standalone',
'enable_left_ir': 'true',
@@ -24,13 +24,27 @@ def generate_launch_description():
}.items()
)
launch2_include = IncludeLaunchDescription(
# launch2_include = IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
# ),
# launch_arguments={
# 'camera_name': 'camera_02',
# 'usb_port': 'gmsl2-2',
# 'device_num': '3',
# 'sync_mode': 'standalone',
# 'enable_left_ir': 'false',
# 'enable_right_ir': 'false',
# }.items()
# )
launch3_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
),
launch_arguments={
'camera_name': 'camera_02',
'usb_port': '2-3',
'camera_name': 'camera_03',
'usb_port': 'gmsl2-3',
'device_num': '2',
'sync_mode': 'standalone',
'enable_left_ir': 'true',
@@ -43,7 +57,8 @@ def generate_launch_description():
# Launch description
ld = LaunchDescription([
GroupAction([launch1_include]),
GroupAction([launch2_include]),
# GroupAction([launch2_include]),
GroupAction([launch3_include]),
])
return ld