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():
@@ -81,36 +83,52 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
     ]
 
-    # Node configuration
+# 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
-    compose_node = ComposableNode(
+    else:
-        package='orbbec_camera',
+        # Define the ComposableNode
-        plugin='orbbec_camera::OBCameraNodeDriver',
+        compose_node = ComposableNode(
-        name=LaunchConfiguration('camera_name'),
+            package="orbbec_camera",
-        namespace='',
+            plugin="orbbec_camera::OBCameraNodeDriver",
-        parameters=parameters,
+            name=LaunchConfiguration("camera_name"),
-    )
+            namespace="",
-    # Define the ComposableNodeContainer
+            parameters=parameters,
-    container = ComposableNodeContainer(
+        )
-        name='camera_container',
+        # Define the ComposableNodeContainer
-        namespace='',
+        container = ComposableNodeContainer(
-        package='rclcpp_components',
+            name="camera_container",
-        executable='component_container',
+            namespace="",
-        composable_node_descriptions=[
+            package="rclcpp_components",
-            compose_node,
+            executable="component_container",
-        ],
+            composable_node_descriptions=[
-        output='screen',
+                compose_node,
-    )
+            ],
-
+            output="screen",
-    # Launch description
+        )
-    ld = LaunchDescription(
+        # Launch description
-        args +
+        ld = LaunchDescription(
-        [
+            args
-            GroupAction([
+            + [
-                PushRosNamespace(LaunchConfiguration('camera_name')),
+                GroupAction(
-                container
+                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
-            ])
+                )
-        ]
+            ]
-    )
+        )
-    return ld
+        return ld