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fixed multi camera namespace error

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This commit is contained in:
Joe Dong
2023-02-16 16:14:38 +08:00
parent 31c0f91372
commit 689e6b22c7
34 changed files with 111 additions and 80 deletions
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orbbec_camera/launch/multi_camera.launch.xml
+18 -12
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@@ -6,21 +6,27 @@
<!-- stereo_s_u3, astrapro, astra -->
<arg name="camera1_prefix" default="01"/>
<arg name="camera2_prefix" default="02"/>
<arg name="camera1_serila_number" default="'ADAX9130012'"/>
<arg name="camera2_serila_number" default="'ADAX91301LB'"/>
<arg name="camera1_serila_number" default="AY3JB20003C"/>
<arg name="camera2_serila_number" default="CH26420001B"/>
<arg name="device_num" default="2"/>
<node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/>
<include file="$(find-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
<arg name="camera_name" value="$(var camera_name)_$(var camera1_prefix)"/>
<arg name="serial_number" value="$(var camera1_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
<group>
<push-ros-namespace namespace="camera_$(var camera1_prefix)"/>
<include file="$(find-pkg-share orbbec_camera)/launch/gemini2.launch.xml">
<arg name="camera_name" value="camera_$(var camera1_prefix)"/>
<arg name="serial_number" value="$(var camera1_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
</group>
<group>
<push-ros-namespace namespace="camera_$(var camera2_prefix)"/>
<include file="$(find-pkg-share orbbec_camera)/launch/dabai_dcw.launch.xml">
<arg name="camera_name" value="camera_$(var camera2_prefix)"/>
<arg name="serial_number" value="$(var camera2_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
</group>
<include file="$(find-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
<arg name="camera_name" value="$(var camera_name)_$(var camera2_prefix)"/>
<arg name="serial_number" value="$(var camera2_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
args="0 0 0 0 0 0 camera01_link camera02_link"/>
</launch>