feat: enhance GMSL camera support and configuration options

orbbec_camera/examples/README.MD

@@ -7,8 +7,6 @@ These simple examples demonstrate how to easily use the camera with OrbbecSDK_RO
 |                                     Name                                     | Description                                                                                                                                                          | Experience Level | Document |
 | :---------------------------------------------------------------------------: | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------- | ----------------------------------------------------------------------------- |
 |                            [Net_camera](./net_camera)                            | How to use Net camera in OrbbecSDK_ROS2(Only Femto Mega nad Gemini 335Le)                                                                                            | ⭐️             | [Net_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/configuration/net_camera.html) |
-|                           [Gmsl_camera](./gmsl_camera)                           | How to use GMSL camera.(Only Gemini 335Lg)                                                                                                                           | ⭐️             | [Gmsl_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/gmsl_camera.html) |
+|                           [Gmsl_camera](./gmsl_camera)                           | How to use GMSL cameras (Gemini 335Lg, 338Lg, 345Lg, and 305g).                                                                                                      | ⭐️             | [Gmsl_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/gmsl_camera.html) |
 |                             [Benchmark](./benchmark)                             | The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations.                                                               | ⭐️⭐️         | [Benchmark](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/performance/benchmark.html) |
 | [Multi_camera_synced_verification_tool](./multi_camera_synced_verification_tool) | How to verify the synchronization accuracy of multi-camera synchronization.                                                                                          | ⭐️⭐️⭐️     | [Multi_camera_synced_verification_tool](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html) |
-
-

orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py

@@ -11,6 +11,19 @@ from launch.substitutions import TextSubstitution
 from launch_ros.descriptions import ComposableNode
 
 
+GMSL_CAMERA_LAUNCH_DIRS = {
+    "gemini_330_gmsl.launch.py": ("examples", "gmsl_camera"),  # Gemini 335Lg / 338Lg
+    "gemini_301_series.launch.py": ("launch",),  # Gemini 305G / 309G
+    "gemini345_lg.launch.py": ("launch",),  # Gemini 345Lg
+}
+
+
+def get_camera_launch_file(package_dir, launch_file_name):
+    return os.path.join(
+        package_dir, *GMSL_CAMERA_LAUNCH_DIRS[launch_file_name], launch_file_name
+    )
+
+
 def load_yaml(file_path):
     with open(file_path, "r") as f:
         return yaml.safe_load(f)
@@ -43,9 +56,6 @@ def convert_value(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" #or launch
-    )
     config_file_dir = os.path.join(package_dir, "config")
     secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
 
@@ -67,8 +77,10 @@ def generate_launch_description():
     attach_to_shared_component_container_arg = TextSubstitution(text="true")
 
     launch1_include = IncludeLaunchDescription(
+        # Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
+        # and gemini345_lg.launch.py.
         PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py") #or gemini345_lg.launch.py
+            get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
         ),
         launch_arguments={
             "camera_name": "camera_01",
@@ -82,8 +94,10 @@ def generate_launch_description():
     )
 
     launch2_include = IncludeLaunchDescription(
+        # Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
+        # and gemini345_lg.launch.py.
         PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")#or gemini345_lg.launch.py
+            get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
         ),
         launch_arguments={
             "camera_name": "camera_02",

orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py

@@ -11,6 +11,19 @@ from launch.substitutions import TextSubstitution
 from launch_ros.descriptions import ComposableNode
 
 
+GMSL_CAMERA_LAUNCH_DIRS = {
+    "gemini_330_gmsl.launch.py": ("examples", "gmsl_camera"),  # Gemini 335Lg / 338Lg
+    "gemini_301_series.launch.py": ("launch",),  # Gemini 305G / 309G
+    "gemini345_lg.launch.py": ("launch",),  # Gemini 345Lg
+}
+
+
+def get_camera_launch_file(package_dir, launch_file_name):
+    return os.path.join(
+        package_dir, *GMSL_CAMERA_LAUNCH_DIRS[launch_file_name], launch_file_name
+    )
+
+
 def load_yaml(file_path):
     with open(file_path, "r") as f:
         return yaml.safe_load(f)
@@ -43,9 +56,6 @@ def convert_value(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")
 
@@ -67,8 +77,10 @@ def generate_launch_description():
     attach_to_shared_component_container_arg = TextSubstitution(text="true")
 
     launch1_include = IncludeLaunchDescription(
+        # Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
+        # and gemini345_lg.launch.py.
         PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
+            get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
         ),
         launch_arguments={
             "camera_name": "camera_01",
@@ -84,8 +96,10 @@ def generate_launch_description():
     )
 
     launch2_include = IncludeLaunchDescription(
+        # Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
+        # and gemini345_lg.launch.py.
         PythonLaunchDescriptionSource(
-            os.path.join(launch_file_dir, "gemini_330_gmsl.launch.py")
+            get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
         ),
         launch_arguments={
             "camera_name": "camera_02",

orbbec_camera/include/orbbec_camera/constants.h

@@ -154,4 +154,9 @@ inline bool isGemini305SeriesPID(uint32_t pid) {
          pid == GEMINI_309G_PID;
 }
 
+inline bool isGmslCameraPID(uint32_t pid) {
+  return pid == GEMINI_335LG_PID || pid == GEMINI_338LG_PID || pid == GEMINI_345LG_PID ||
+         pid == GEMINI_305G_PID || pid == GEMINI_309G_PID;
+}
+
 }  // namespace orbbec_camera

orbbec_camera/launch/gemini345_lg.launch.py

@@ -222,6 +222,8 @@ def generate_launch_description():
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('enable_firmware_log', default_value='false'),
+        DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
+        DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
 
         #color image transport plugins
         DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),

orbbec_camera/launch/gemini_301_series.launch.py

@@ -274,6 +274,8 @@ def generate_launch_description():
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('enable_firmware_log', 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'),

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -1589,7 +1589,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
     }
 
     auto pid = device->getDeviceInfo()->getPid();
-    if (GEMINI_335LG_PID == pid || GEMINI_338LG_PID == pid) {
+    if (isGmslCameraPID(pid)) {
       ob_camera_node_->startGmslTrigger();
     }
     // if (isGemini305SeriesPID(pid)) {