diff --git a/orbbec_camera/examples/gmsl_camera/README.MD b/orbbec_camera/examples/gmsl_camera/README.MD index 00747929..b979d560 100644 --- a/orbbec_camera/examples/gmsl_camera/README.MD +++ b/orbbec_camera/examples/gmsl_camera/README.MD @@ -1,13 +1,13 @@ # GMSL_camera -> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only G335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future. +> 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_series.launch.py +ros2 launch orbbec_camera gemini_330_gmsl.launch.py ``` ## Multi GMSL camera @@ -20,12 +20,14 @@ ros2 run orbbec_camera list_devices_node For example, the obtained gmsl camera `usb_port`: `gmsl2-1` -Go to the [multi_camera.launch.py](../../launch/multi_camera.launch.py) file and change the `usb_port`. +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_camera.launch.py +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). @@ -35,7 +37,6 @@ In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro ### Additional Parameter Settings * `gmsl_trigger_fps` : set hardware soc trigger source frame rate. - * `enable_gmsl_trigger` : enable hardware soc trigger. ### Run the launch @@ -45,3 +46,5 @@ Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](multi ```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. diff --git a/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py b/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py new file mode 100644 index 00000000..f8008637 --- /dev/null +++ b/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py @@ -0,0 +1,298 @@ +import os +import yaml +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node +from launch_ros.descriptions import ComposableNode +from launch.conditions import UnlessCondition +from launch_ros.actions import LoadComposableNodes + +def load_yaml(file_path): + with open(file_path, 'r') as f: + return yaml.safe_load(f) + + +def merge_params(default_params, yaml_params): + for key, value in yaml_params.items(): + if key in default_params: + default_params[key] = value + return default_params + + +def convert_value(value): + if isinstance(value, str): + try: + return int(value) + except ValueError: + pass + try: + return float(value) + except ValueError: + pass + if value.lower() == 'true': + return True + elif value.lower() == 'false': + return False + return value + + +def load_parameters(context, args): + default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args} + config_file_path = LaunchConfiguration('config_file_path').perform(context) + if config_file_path: + yaml_params = load_yaml(config_file_path) + default_params = merge_params(default_params, yaml_params) + skip_convert = {'config_file_path', 'usb_port', 'serial_number'} + return { + key: (value if key in skip_convert else convert_value(value)) + for key, value in default_params.items() + } + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument('camera_name', default_value='camera'), + DeclareLaunchArgument('depth_registration', default_value='true'), + DeclareLaunchArgument('serial_number', default_value=''), + DeclareLaunchArgument('usb_port', default_value=''), + DeclareLaunchArgument('device_num', default_value='1'), + DeclareLaunchArgument('preset_firmware_path', default_value=''), + DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2 + DeclareLaunchArgument('point_cloud_qos', default_value='default'), + DeclareLaunchArgument('enable_point_cloud', default_value='true'), + DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), + DeclareLaunchArgument('cloud_frame_id', default_value=''), + DeclareLaunchArgument('connection_delay', default_value='10'), + DeclareLaunchArgument('color_width', default_value='0'), + DeclareLaunchArgument('color_height', default_value='0'), + DeclareLaunchArgument('color_fps', default_value='0'), + DeclareLaunchArgument('color_format', default_value='ANY'), + DeclareLaunchArgument('enable_color', default_value='true'), + DeclareLaunchArgument('color_qos', default_value='default'), + DeclareLaunchArgument('color_camera_info_qos', default_value='default'), + DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'), + DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), + DeclareLaunchArgument('color_ae_roi_left', default_value='-1'), + DeclareLaunchArgument('color_ae_roi_right', default_value='-1'), + DeclareLaunchArgument('color_ae_roi_top', default_value='-1'), + DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'), + DeclareLaunchArgument('color_exposure', default_value='-1'), + DeclareLaunchArgument('color_gain', default_value='-1'), + DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'), + DeclareLaunchArgument('color_white_balance', default_value='-1'), + DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'), + DeclareLaunchArgument('color_brightness', default_value='-1'), + DeclareLaunchArgument('color_sharpness', default_value='-1'), + DeclareLaunchArgument('color_gamma', default_value='-1'), + DeclareLaunchArgument('color_saturation', default_value='-1'), + DeclareLaunchArgument('color_constrast', default_value='-1'), + DeclareLaunchArgument('color_hue', default_value='-1'), + DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'), + DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), + DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), + DeclareLaunchArgument('depth_width', default_value='0'), + DeclareLaunchArgument('depth_height', default_value='0'), + DeclareLaunchArgument('depth_fps', default_value='0'), + DeclareLaunchArgument('depth_format', default_value='ANY'), + DeclareLaunchArgument('enable_depth', default_value='true'), + DeclareLaunchArgument('depth_qos', default_value='default'), + DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), + DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'), + DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'), + DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'), + DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'), + DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'), + DeclareLaunchArgument('depth_brightness', default_value='-1'), + DeclareLaunchArgument('left_ir_width', default_value='0'), + DeclareLaunchArgument('left_ir_height', default_value='0'), + DeclareLaunchArgument('left_ir_fps', default_value='0'), + DeclareLaunchArgument('left_ir_format', default_value='ANY'), + DeclareLaunchArgument('enable_left_ir', default_value='false'), + DeclareLaunchArgument('left_ir_qos', default_value='default'), + DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), + DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'), + DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'), + DeclareLaunchArgument('right_ir_width', default_value='0'), + DeclareLaunchArgument('right_ir_height', default_value='0'), + DeclareLaunchArgument('right_ir_fps', default_value='0'), + DeclareLaunchArgument('right_ir_format', default_value='ANY'), + DeclareLaunchArgument('enable_right_ir', default_value='false'), + DeclareLaunchArgument('right_ir_qos', default_value='default'), + DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'), + DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'), + DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'), + DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'), + DeclareLaunchArgument('ir_exposure', default_value='-1'), + DeclareLaunchArgument('ir_gain', default_value='-1'), + DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'), + DeclareLaunchArgument('ir_brightness', default_value='-1'), + DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'), + DeclareLaunchArgument('enable_accel', default_value='false'), + DeclareLaunchArgument('accel_rate', default_value='200hz'), + DeclareLaunchArgument('accel_range', default_value='4g'), + DeclareLaunchArgument('enable_gyro', default_value='false'), + DeclareLaunchArgument('gyro_rate', default_value='200hz'), + DeclareLaunchArgument('gyro_range', default_value='1000dps'), + DeclareLaunchArgument('liner_accel_cov', default_value='0.01'), + DeclareLaunchArgument('angular_vel_cov', default_value='0.01'), + DeclareLaunchArgument('publish_tf', default_value='true'), + DeclareLaunchArgument('tf_publish_rate', default_value='0.0'), + DeclareLaunchArgument('ir_info_url', default_value=''), + DeclareLaunchArgument('color_info_url', default_value=''), + # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices + # If you do not want to automatically enumerate network devices, + # you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090 + DeclareLaunchArgument("enumerate_net_device", default_value="false"), + DeclareLaunchArgument("net_device_ip", default_value=""), + DeclareLaunchArgument("net_device_port", default_value="0"), + DeclareLaunchArgument("exposure_range_mode", default_value="default"),#default, ultimate or regular + DeclareLaunchArgument('log_level', default_value='none'), + DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), + DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), + DeclareLaunchArgument('enable_hardware_d2d', default_value='true'), + DeclareLaunchArgument('enable_ldp', default_value='true'), + DeclareLaunchArgument('ldp_power_level', default_value='-1'), + DeclareLaunchArgument('enable_soft_filter', default_value='true'), + DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), + DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), + DeclareLaunchArgument('sync_mode', default_value='standalone'), + DeclareLaunchArgument('depth_delay_us', default_value='0'), + DeclareLaunchArgument('color_delay_us', default_value='0'), + DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), + DeclareLaunchArgument('trigger_out_delay_us', default_value='0'), + DeclareLaunchArgument('trigger_out_enabled', default_value='true'), + DeclareLaunchArgument('frames_per_trigger', default_value='2'), + DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms + DeclareLaunchArgument('enable_frame_sync', default_value='true'), + DeclareLaunchArgument('ordered_pc', default_value='false'), + DeclareLaunchArgument('enable_depth_scale', default_value='true'), + DeclareLaunchArgument('enable_decimation_filter', default_value='false'), + DeclareLaunchArgument('enable_hdr_merge', default_value='false'), + DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), + DeclareLaunchArgument('enable_threshold_filter', default_value='false'), + DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'), + DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'), + DeclareLaunchArgument('enable_spatial_filter', default_value='false'), + DeclareLaunchArgument('enable_temporal_filter', default_value='false'), + DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), + DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), + DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'), + DeclareLaunchArgument('threshold_filter_max', default_value='-1'), + DeclareLaunchArgument('threshold_filter_min', default_value='-1'), + DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'), + DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'), + DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'), + DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'), + DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'), + DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'), + DeclareLaunchArgument('spatial_filter_radius', default_value='-1'), + DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'), + DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'), + DeclareLaunchArgument('hole_filling_filter_mode', default_value=''), + DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'), + DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'), + DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'), + DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'), + DeclareLaunchArgument('align_mode', default_value='SW'), + DeclareLaunchArgument('diagnostic_period', default_value='1.0'), + DeclareLaunchArgument('enable_laser', default_value='true'), + DeclareLaunchArgument('depth_precision', default_value=''), + DeclareLaunchArgument('device_preset', default_value='Default'), + DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), + DeclareLaunchArgument('laser_energy_level', default_value='-1'), + DeclareLaunchArgument('enable_sync_host_time', default_value='true'), + DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system + DeclareLaunchArgument('enable_color_undistortion', default_value='false'), + DeclareLaunchArgument('config_file_path', default_value=''), + DeclareLaunchArgument('enable_heartbeat', default_value='false'), + DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'), + DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'), + DeclareLaunchArgument('disparity_range_mode', default_value='-1'), + DeclareLaunchArgument('disparity_search_offset', default_value='-1'), + DeclareLaunchArgument('disparity_offset_config', default_value='false'), + DeclareLaunchArgument('offset_index0', default_value='-1'), + DeclareLaunchArgument('offset_index1', default_value='-1'), + DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable + DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser' + DeclareLaunchArgument('interleave_frame_enable', default_value='false'), + DeclareLaunchArgument('interleave_skip_enable', default_value='false'), + DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir + + DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param + DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), + DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), + DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'), + DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'), + DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'), + DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'), + DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'), + DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'), + DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'), + + DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param + DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), + DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'), + DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'), + DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'), + DeclareLaunchArgument('laser_index0_laser_control', default_value='1'), + DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'), + DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'), + DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'), + DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'), + DeclareLaunchArgument('use_intra_process_comms', default_value='false'), + DeclareLaunchArgument('attach_component_container_enable', default_value='false'), + DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'), + + ] + + def get_params(context, args): + return [load_parameters(context, args)] + + def create_node_action(context, args): + params = get_params(context, args) + ros_distro = os.environ.get("ROS_DISTRO", "humble") + if ros_distro == "foxy": + return [ + Node( + package="orbbec_camera", + executable="orbbec_camera_node", + name="ob_camera_node", + namespace=LaunchConfiguration("camera_name"), + parameters=params, + output="screen", + ) + ] + else: + attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False) + component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container') + + orbbec_container = Node( + name=component_container_name_arg, + package='rclcpp_components', + executable='component_container_mt', + output='screen', + condition=UnlessCondition(attach_to_shared_component_container_arg) + ) + return [ + orbbec_container, + LoadComposableNodes( + target_container=component_container_name_arg, + composable_node_descriptions=[ + ComposableNode( + namespace=LaunchConfiguration("camera_name"), + name=LaunchConfiguration("camera_name"), + package='orbbec_camera', + plugin='orbbec_camera::OBCameraNodeDriver', + parameters=params, + extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}], + ) + ] + ) + ] + + return LaunchDescription( + args + [ + OpaqueFunction(function=lambda context: create_node_action(context, args)) + ] + ) diff --git a/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py b/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py new file mode 100644 index 00000000..9f00153a --- /dev/null +++ b/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py @@ -0,0 +1,108 @@ +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node, LoadComposableNodes +from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction +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.substitutions import TextSubstitution +from launch_ros.descriptions import ComposableNode + + +def load_yaml(file_path): + with open(file_path, "r") as f: + return yaml.safe_load(f) + + +def merge_params(default_params, yaml_params): + for key, value in yaml_params.items(): + if key in default_params: + default_params[key] = value + return default_params + + +def convert_value(value): + if isinstance(value, str): + try: + return int(value) + except ValueError: + pass + try: + return float(value) + except ValueError: + pass + if value.lower() == "true": + return True + elif value.lower() == "false": + return False + return value + + +def generate_launch_description(): + # Include launch files + package_dir = get_package_share_directory("orbbec_camera") + launch_file_dir = os.path.join( + package_dir, "examples/gmsl_camera" + ) + config_file_dir = os.path.join(package_dir, "config") + secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml") + + attach_to_shared_component_container_arg = LaunchConfiguration( + "attach_to_shared_component_container", default=False + ) + component_container_name_arg = LaunchConfiguration( + "component_container_name", default="shared_orbbec_container" + ) + + shared_orbbec_container = Node( + name=component_container_name_arg, + package="rclcpp_components", + executable="component_container_mt", + output="screen", + condition=UnlessCondition(attach_to_shared_component_container_arg), + ) + + attach_to_shared_component_container_arg = TextSubstitution(text="true") + + launch1_include = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py") + ), + launch_arguments={ + "camera_name": "camera_01", + "usb_port": "gmsl2-1", + "device_num": "2", + "sync_mode": "standalone", + "config_file_path": secondary_config_file_path, + "attach_to_shared_component_container": attach_to_shared_component_container_arg, + "component_container_name": component_container_name_arg, + }.items(), + ) + + launch2_include = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py") + ), + launch_arguments={ + "camera_name": "camera_02", + "usb_port": "gmsl2-3", + "device_num": "2", + "sync_mode": "standalone", + "config_file_path": secondary_config_file_path, + "attach_to_shared_component_container": attach_to_shared_component_container_arg, + "component_container_name": component_container_name_arg, + }.items(), + ) + + # Launch description + ld = LaunchDescription( + [ + shared_orbbec_container, + TimerAction(period=0.0, actions=[GroupAction([launch2_include])]), + TimerAction(period=2.0, actions=[GroupAction([launch1_include])]), + ] + ) + + return ld diff --git a/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py b/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py index 8db9bdc7..1404a8e0 100644 --- a/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py +++ b/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py @@ -1,56 +1,109 @@ import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch_ros.actions import Node +from launch_ros.actions import Node, LoadComposableNodes from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction 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.substitutions import TextSubstitution +from launch_ros.descriptions import ComposableNode + + +def load_yaml(file_path): + with open(file_path, "r") as f: + return yaml.safe_load(f) + + +def merge_params(default_params, yaml_params): + for key, value in yaml_params.items(): + if key in default_params: + default_params[key] = value + return default_params + + +def convert_value(value): + if isinstance(value, str): + try: + return int(value) + except ValueError: + pass + try: + return float(value) + except ValueError: + pass + if value.lower() == "true": + return True + elif value.lower() == "false": + return False + return value def generate_launch_description(): # Include launch files package_dir = get_package_share_directory("orbbec_camera") - launch_file_dir = os.path.join(package_dir, "launch") + launch_file_dir = os.path.join( + package_dir, "examples/gmsl_camera" + ) config_file_dir = os.path.join(package_dir, "config") - config_file_path = os.path.join(config_file_dir, "camera_params.yaml") + secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml") + + attach_to_shared_component_container_arg = LaunchConfiguration( + "attach_to_shared_component_container", default=False + ) + component_container_name_arg = LaunchConfiguration( + "component_container_name", default="shared_orbbec_container" + ) + + shared_orbbec_container = Node( + name=component_container_name_arg, + package="rclcpp_components", + executable="component_container_mt", + output="screen", + condition=UnlessCondition(attach_to_shared_component_container_arg), + ) + + attach_to_shared_component_container_arg = TextSubstitution(text="true") launch1_include = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_series.launch.py") + os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py") ), launch_arguments={ "camera_name": "camera_01", "usb_port": "gmsl2-1", "device_num": "2", "sync_mode": "secondary_synced", - "config_file_path": config_file_path, - "trigger_out_enabled": "false", "gmsl_trigger_fps": "3000", "enable_gmsl_trigger": "true", + "config_file_path": secondary_config_file_path, + "attach_to_shared_component_container": attach_to_shared_component_container_arg, + "component_container_name": component_container_name_arg, }.items(), ) launch2_include = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(launch_file_dir, "gemini_330_series.launch.py") + os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py") ), launch_arguments={ "camera_name": "camera_02", "usb_port": "gmsl2-3", "device_num": "2", "sync_mode": "secondary_synced", - "config_file_path": config_file_path, - "trigger_out_enabled": "false", - "enable_gmsl_trigger": "false", + "config_file_path": secondary_config_file_path, + "attach_to_shared_component_container": attach_to_shared_component_container_arg, + "component_container_name": component_container_name_arg, }.items(), ) - # Launch description ld = LaunchDescription( [ - # The sending the gmsl_trigger signal gsml camera should be launched at lfirst - TimerAction(period=0.0, actions=[GroupAction([launch1_include])]), - TimerAction(period=2.0, actions=[GroupAction([launch2_include])]), + shared_orbbec_container, + TimerAction(period=0.0, actions=[GroupAction([launch2_include])]), + TimerAction(period=2.0, actions=[GroupAction([launch1_include])]), ] )