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Update orbbec_multicamera.launch.py and yaml

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This commit is contained in:
zhuangzi
2025-01-08 23:05:36 +08:00
parent 0e13910c36
commit 5ef333c5fe
5 changed files with 25 additions and 28 deletions
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orbbec_camera/config/multicamera_synced.yaml
+21 -24
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@@ -6,10 +6,10 @@ orbbec_ros:
launch_device_camera1: launch_device_camera1:
config_file_path: "multicamera_test/gemini330_series_sync_front_camera.yaml" config_file_path: "multicamera_test/gemini330_series_sync_front_camera.yaml"
# default period 0.0; unit: second # default period 0.0; unit: second
period: 6.0 period: 2.0
camera_name: "front_camera" camera_name: "front_camera"
usb_port: "2-5" usb_port: "4-3.3"
device_num: "4" device_num: "2"
sync_mode: "primary" sync_mode: "primary"
launch_device_camera2: launch_device_camera2:
@@ -17,27 +17,24 @@ orbbec_ros:
# default period 0.0; unit: second # default period 0.0; unit: second
period: 0.0 period: 0.0
camera_name: "left_camera" camera_name: "left_camera"
usb_port: "2-1" usb_port: "4-3.1"
device_num: "4" device_num: "2"
sync_mode: "secondary_synced" sync_mode: "secondary_synced"
trigger_out_enabled: false
launch_device_camera3: # launch_device_camera3:
config_file_path: "multicamera_test/gemini330_series_sync_rear_camera.yaml" # config_file_path: "multicamera_test/gemini330_series_sync_rear_camera.yaml"
# default period 0.0; unit: second # # default period 0.0; unit: second
period: 2.0 # period: 2.0
camera_name: "rear_camera" # camera_name: "rear_camera"
usb_port: "2-3" # usb_port: "2-3"
device_num: "4" # device_num: "3"
sync_mode: "secondary_synced" # sync_mode: "secondary_synced"
trigger_out_enabled: false
launch_device_camera4: # launch_device_camera4:
config_file_path: "multicamera_test/gemini330_series_sync_right_camera.yaml" # config_file_path: "multicamera_test/gemini330_series_sync_right_camera.yaml"
# default period 0.0; unit: second # # default period 0.0; unit: second
period: 4.0 # period: 4.0
camera_name: "right_camera" # camera_name: "right_camera"
usb_port: "2-7" # usb_port: "2-7"
device_num: "4" # device_num: "4"
sync_mode: "secondary_synced" # sync_mode: "secondary_synced"
trigger_out_enabled: false
orbbec_camera/config/multicamera_test/gemini330_series_sync_left_camera.yaml
+1 -1
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@@ -101,7 +101,7 @@ orbbec_ros:
depth_delay_us: 0 depth_delay_us: 0
color_delay_us: 0 color_delay_us: 0
trigger2image_delay_us: 0 trigger2image_delay_us: 0
trigger_out_enabled: true trigger_out_enabled: false
trigger_out_delay_us: 0 trigger_out_delay_us: 0
frames_per_trigger: 2 frames_per_trigger: 2
software_trigger_period: 33 software_trigger_period: 33
orbbec_camera/config/multicamera_test/gemini330_series_sync_rear_camera.yaml
+1 -1
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@@ -101,7 +101,7 @@ orbbec_ros:
depth_delay_us: 0 depth_delay_us: 0
color_delay_us: 0 color_delay_us: 0
trigger2image_delay_us: 0 trigger2image_delay_us: 0
trigger_out_enabled: true trigger_out_enabled: false
trigger_out_delay_us: 0 trigger_out_delay_us: 0
frames_per_trigger: 2 frames_per_trigger: 2
software_trigger_period: 33 software_trigger_period: 33
orbbec_camera/config/multicamera_test/gemini330_series_sync_right_camera.yaml
+1 -1
View File
@@ -101,7 +101,7 @@ orbbec_ros:
depth_delay_us: 0 depth_delay_us: 0
color_delay_us: 0 color_delay_us: 0
trigger2image_delay_us: 0 trigger2image_delay_us: 0
trigger_out_enabled: true trigger_out_enabled: false
trigger_out_delay_us: 0 trigger_out_delay_us: 0
frames_per_trigger: 2 frames_per_trigger: 2
software_trigger_period: 33 software_trigger_period: 33
orbbec_camera/launch/orbbec_multicamera.launch.py
+1 -1
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@@ -16,7 +16,7 @@ from utils_yaml import *
default_package_name = 'orbbec_camera' default_package_name = 'orbbec_camera'
default_launch_file = 'orbbec_camera.launch.py' default_launch_file = 'orbbec_camera.launch.py'
default_multi_camera_config_file = 'multicamera.yaml' #'multi_camera_synced.ymal' default_multi_camera_config_file = 'multicamera.yaml' #'multicamera_synced.yaml'
default_shared_container_name = 'shared_orbbec_container' default_shared_container_name = 'shared_orbbec_container'