Modify gemini2.launch.py to resolve the abnormal program behavior of multiple device reconnection in the Foxy version.

orbbec_camera/launch/gemini2.launch.py

@@ -5,6 +5,8 @@ from launch_ros.actions import PushRosNamespace
 from launch.actions import GroupAction
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
+from launch_ros.actions import Node
+import os
 
 
 def generate_launch_description():
@@ -83,34 +85,50 @@ def generate_launch_description():
 
 # Node configuration
     parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
+    # get  ROS_DISTRO
+    ros_distro = os.environ["ROS_DISTRO"]
+    if ros_distro == "foxy":
+        return LaunchDescription(
+            args
+            + [
+                Node(
+                    package="orbbec_camera",
+                    executable="orbbec_camera_node",
+                    name="ob_camera_node",
+                    namespace=LaunchConfiguration("camera_name"),
+                    parameters=parameters,
+                    output="screen",
+                )
+            ]
+        )
+    # Define the ComposableNode
+    else:
         # Define the ComposableNode
         compose_node = ComposableNode(
-        package='orbbec_camera',
+            package="orbbec_camera",
-        plugin='orbbec_camera::OBCameraNodeDriver',
+            plugin="orbbec_camera::OBCameraNodeDriver",
-        name=LaunchConfiguration('camera_name'),
+            name=LaunchConfiguration("camera_name"),
-        namespace='',
+            namespace="",
             parameters=parameters,
         )
         # Define the ComposableNodeContainer
         container = ComposableNodeContainer(
-        name='camera_container',
+            name="camera_container",
-        namespace='',
+            namespace="",
-        package='rclcpp_components',
+            package="rclcpp_components",
-        executable='component_container',
+            executable="component_container",
             composable_node_descriptions=[
                 compose_node,
             ],
-        output='screen',
+            output="screen",
         )
-
         # Launch description
         ld = LaunchDescription(
-        args +
+            args
-        [
+            + [
-            GroupAction([
+                GroupAction(
-                PushRosNamespace(LaunchConfiguration('camera_name')),
+                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
-                container
+                )
-            ])
             ]
         )
         return ld