From 76aa7d22def51463f670d21ad9993618aad10b88 Mon Sep 17 00:00:00 2001
From: zhuangzi <zhuangzi@orbbec.com>
Date: Thu, 9 Jan 2025 17:28:33 +0800
Subject: [PATCH] add orbbec_multi_synced.launch.py

---
 .../launch/orbbec_multi_synced.launch.py      | 65 +++++++++++++++++++
 1 file changed, 65 insertions(+)
 create mode 100644 orbbec_camera/launch/orbbec_multi_synced.launch.py

diff --git a/orbbec_camera/launch/orbbec_multi_synced.launch.py b/orbbec_camera/launch/orbbec_multi_synced.launch.py
new file mode 100644
index 00000000..49a5c102
--- /dev/null
+++ b/orbbec_camera/launch/orbbec_multi_synced.launch.py
@@ -0,0 +1,65 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory('orbbec_camera')
+    launch_file_dir = os.path.join(package_dir, 'launch')
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
+        ),
+        launch_arguments={
+            "camera_model": "gemini330_series",
+            'camera_name': 'camera_01',
+            "usb_port": "4-1",
+            "device_num": "3",
+            "sync_mode": "primary",
+        }.items()
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
+        ),
+        launch_arguments={
+            "camera_model": "gemini330_series",
+            "attach_component_container_enable": "true",
+            'camera_name': 'camera_02',
+            'usb_port': '4-2',
+            'device_num': '3',
+            "sync_mode": "secondary_synced",
+        }.items()
+    )
+
+    launch3_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
+        ),
+        launch_arguments={
+            "camera_model": "gemini330_series",
+            "attach_component_container_enable": "true",
+            'camera_name': 'camera_03',
+            'usb_port': '4-3',
+            'device_num': '3',
+            "sync_mode": "secondary_synced",
+        }.items()
+    )
+
+    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
+
+    # Launch description
+    ld = LaunchDescription(
+        [
+            TimerAction(period=3.0, actions=[GroupAction([launch1_include])]),
+            TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
+            TimerAction(period=1.0, actions=[GroupAction([launch3_include])]),
+            # The primary camera should be launched at last
+        ]
+    )
+
+    return ld
\ No newline at end of file