refactor: reorganize multi-camera examples

2026-10-04 20:17:47 +08:00 · 2026-09-07 11:27:57 +08:00
parent d38f0db90d
commit 7c4954791c
9 changed files with 315 additions and 290 deletions
@@ -11,9 +11,10 @@ For command-line maintenance and diagnostic utilities, see the official

 | Source | Purpose | Experience Level | Official Guide |
 | :---: | --- | :---: | --- |
-| [Net camera](./net_camera) | Launch supported Orbbec network cameras. | ⭐️ | [Network camera guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html) |
+| [Multi-camera network](./multi_net_camera) | Launch multiple supported Orbbec network cameras. | ⭐️ | [Network camera guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html) |
 | [GigE Action Command](./gige_action_command) | Configure and trigger a Gemini 335Le camera group over GVCP. | ⭐️⭐️ | [README](./gige_action_command/README.md) |
-| [GMSL camera](./gmsl_camera) | Launch single, multiple, or synchronized GMSL cameras. | ⭐️ | [GMSL camera guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html) |
+| [GMSL camera](./gmsl_multi_camera_sync) | Synchronize two GMSL-connected Gemini 330 Series cameras. | ⭐️⭐️ | [README](./gmsl_multi_camera_sync/README.md) |
+| [Shared component container](./multi_camera_shared_container) | Load multiple Gemini 330 Series cameras into one component container. | ⭐️⭐️ | [README](./multi_camera_shared_container/README.md) |
 | [AE/AWB lock test](./ae_awb_lock) | Verify AE/AWB convergence, frame-metadata capture, and manual lock-in through ROS 2. | ⭐️⭐️ | [README](./ae_awb_lock/README.md) |
 | [Benchmark](./benchmark) | Benchmark the performance of different camera configurations. | ⭐️⭐️ | [Performance benchmark tools](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/6_benchmark/benchmark_tools.html) |
 | [Multi-camera synchronization verification](./multi_camera_synced_verification_tool) | Verify synchronization accuracy across multiple cameras. | ⭐️⭐️⭐️ | [Synchronization verification guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html) |
@@ -1,122 +0,0 @@
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch_ros.actions import Node, LoadComposableNodes
-from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import DeclareLaunchArgument
-from launch.conditions import UnlessCondition, IfCondition
-from launch.substitutions import LaunchConfiguration
-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)
-
-
-def merge_params(default_params, yaml_params):
-    for key, value in yaml_params.items():
-        if key in default_params:
-            default_params[key] = value
-    return default_params
-
-
-def convert_value(value):
-    if isinstance(value, str):
-        try:
-            return int(value)
-        except ValueError:
-            pass
-        try:
-            return float(value)
-        except ValueError:
-            pass
-        if value.lower() == "true":
-            return True
-        elif value.lower() == "false":
-            return False
-    return value
-
-
-def generate_launch_description():
-    # Include launch files
-    package_dir = get_package_share_directory("orbbec_camera")
-    config_file_dir = os.path.join(package_dir, "config")
-    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
-
-    attach_to_shared_component_container_arg = LaunchConfiguration(
-        "attach_to_shared_component_container", default=False
-    )
-    component_container_name_arg = LaunchConfiguration(
-        "component_container_name", default="shared_orbbec_container"
-    )
-
-    shared_orbbec_container = Node(
-        name=component_container_name_arg,
-        package="rclcpp_components",
-        executable="component_container_mt",
-        output="log",
-        condition=UnlessCondition(attach_to_shared_component_container_arg),
-    )
-
-    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(
-            get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
-        ),
-        launch_arguments={
-            "camera_name": "camera_01",
-            "usb_port": "gmsl2-1",
-            "device_num": "2",
-            "sync_mode": "standalone",
-            "config_file_path": secondary_config_file_path,
-            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
-            "component_container_name": component_container_name_arg,
-        }.items(),
-    )
-
-    launch2_include = IncludeLaunchDescription(
-        # Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
-        # and gemini345_lg.launch.py.
-        PythonLaunchDescriptionSource(
-            get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
-        ),
-        launch_arguments={
-            "camera_name": "camera_02",
-            "usb_port": "gmsl2-3",
-            "device_num": "2",
-            "sync_mode": "standalone",
-            "config_file_path": secondary_config_file_path,
-            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
-            "component_container_name": component_container_name_arg,
-        }.items(),
-    )
-
-    # Launch description
-    ld = LaunchDescription(
-        [
-            shared_orbbec_container,
-            TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
-            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
-        ]
-    )
-
-    return ld
@@ -1,124 +0,0 @@
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch_ros.actions import Node, LoadComposableNodes
-from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import DeclareLaunchArgument
-from launch.conditions import UnlessCondition, IfCondition
-from launch.substitutions import LaunchConfiguration
-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)
-
-
-def merge_params(default_params, yaml_params):
-    for key, value in yaml_params.items():
-        if key in default_params:
-            default_params[key] = value
-    return default_params
-
-
-def convert_value(value):
-    if isinstance(value, str):
-        try:
-            return int(value)
-        except ValueError:
-            pass
-        try:
-            return float(value)
-        except ValueError:
-            pass
-        if value.lower() == "true":
-            return True
-        elif value.lower() == "false":
-            return False
-    return value
-
-
-def generate_launch_description():
-    # Include launch files
-    package_dir = get_package_share_directory("orbbec_camera")
-    config_file_dir = os.path.join(package_dir, "config")
-    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
-
-    attach_to_shared_component_container_arg = LaunchConfiguration(
-        "attach_to_shared_component_container", default=False
-    )
-    component_container_name_arg = LaunchConfiguration(
-        "component_container_name", default="shared_orbbec_container"
-    )
-
-    shared_orbbec_container = Node(
-        name=component_container_name_arg,
-        package="rclcpp_components",
-        executable="component_container_mt",
-        output="log",
-        condition=UnlessCondition(attach_to_shared_component_container_arg),
-    )
-
-    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(
-            get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
-        ),
-        launch_arguments={
-            "camera_name": "camera_01",
-            "usb_port": "gmsl2-1",
-            "device_num": "2",
-            "sync_mode": "secondary_synced",
-            "gmsl_trigger_fps": "3000",
-            "enable_gmsl_trigger": "true",
-            "config_file_path": secondary_config_file_path,
-            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
-            "component_container_name": component_container_name_arg,
-        }.items(),
-    )
-
-    launch2_include = IncludeLaunchDescription(
-        # Supported launch files: gemini_330_gmsl.launch.py, gemini_301_series.launch.py,
-        # and gemini345_lg.launch.py.
-        PythonLaunchDescriptionSource(
-            get_camera_launch_file(package_dir, "gemini_330_gmsl.launch.py")
-        ),
-        launch_arguments={
-            "camera_name": "camera_02",
-            "usb_port": "gmsl2-3",
-            "device_num": "2",
-            "sync_mode": "secondary_synced",
-            "config_file_path": secondary_config_file_path,
-            "attach_to_shared_component_container": attach_to_shared_component_container_arg,
-            "component_container_name": component_container_name_arg,
-        }.items(),
-    )
-
-    # Launch description
-    ld = LaunchDescription(
-        [
-            shared_orbbec_container,
-            TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
-            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
-        ]
-    )
-
-    return ld
@@ -0,0 +1,22 @@
+# GMSL Multi-Camera Synchronization
+
+This example starts two GMSL-connected Gemini 330 Series cameras in hardware synchronization
+mode. It uses the package's standard `gemini_330_series.launch.py` file.
+
+Before starting the cameras, grant access to the camera synchronization device:
+
+```bash
+sudo chmod 777 /dev/camsync
+```
+
+Before starting the example, update the `usb_port` values in
+`multi_gmsl_camera_synced.launch.py` if your system reports different GMSL links. The default
+values are `gmsl2-1` and `gmsl2-3`.
+
+```bash
+ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py
+```
+
+Both cameras use `secondary_synced` mode. `camera_01` enables the host-side GMSL trigger at
+30 fps (`gmsl_trigger_fps=3000`), while `camera_02` receives the same trigger. The receiving
+camera is started first, followed by the trigger-generating camera after two seconds.
@@ -0,0 +1,52 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(package_dir, "launch")
+    config_file_dir = os.path.join(package_dir, "config")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
+
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "gmsl2-1",
+            "device_num": "2",
+            "sync_mode": "secondary_synced",
+            "gmsl_trigger_fps": "3000",
+            "enable_gmsl_trigger": "true",
+            "config_file_path": secondary_config_file_path,
+        }.items(),
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "gmsl2-3",
+            "device_num": "2",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+        }.items(),
+    )
+
+    # Launch description
+    ld = LaunchDescription(
+        [
+            TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
+            # The camera that enables the GMSL trigger should be launched at last
+        ]
+    )
+
+    return ld
@@ -0,0 +1,28 @@
+# Attach Cameras to a Shared Component Container
+
+This example shows how to load two Gemini 330 Series camera components into one externally
+created ROS 2 component container.
+
+Before starting the example, update the `usb_port` values in
+`multi_camera_shared_container.launch.py` to match your two cameras. The default values are
+`2-1` and `2-2`.
+
+```bash
+ros2 launch orbbec_camera multi_camera_shared_container.launch.py
+```
+
+The example performs three steps:
+
+1. Starts one multithreaded component container named `shared_orbbec_container`.
+2. Includes the example-specific `gemini_330_series_shared_container.launch.py` once for each
+   camera.
+3. Passes `attach_to_shared_component_container=true` and the same
+   `component_container_name` to both includes, so neither include creates its own container.
+
+`use_intra_process_comms=true` enables intra-process communication for the loaded camera
+components. Keep every `camera_name` unique, and make sure the shared container is running
+before a camera component is loaded.
+
+The package's main `launch/gemini_330_series.launch.py` is not modified by this example. The
+example-specific launcher mirrors its Gemini 330 Series parameters and adds only the component
+container selection controls needed for this demonstration.
@@ -1,12 +1,24 @@
 import os
 import yaml
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, OpaqueFunction, GroupAction
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import PushRosNamespace, ComposableNodeContainer, Node
-from launch_ros.descriptions import ComposableNode
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.conditions import UnlessCondition
-from launch_ros.actions import LoadComposableNodes
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import LoadComposableNodes, Node
+from launch_ros.descriptions import ComposableNode
+
+
+OPTIONAL_BOOLEAN_PARAMS = {
+    'enable_hardware_noise_removal_filter',
+    'enable_noise_removal_filter',
+}
+
+LAUNCH_ONLY_PARAMS = {
+    'attach_to_shared_component_container',
+    'component_container_name',
+    'use_intra_process_comms',
+}
+

 def load_yaml(file_path):
    with open(file_path, 'r') as f:
@@ -38,25 +50,58 @@ def convert_value(value):


 def load_parameters(context, args):
-    default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
+    default_params = {
+        arg.name: LaunchConfiguration(arg.name).perform(context)
+        for arg in args
+        if arg.name not in LAUNCH_ONLY_PARAMS
+    }
    config_file_path = LaunchConfiguration('config_file_path').perform(context)
    if config_file_path:
        yaml_params = load_yaml(config_file_path)
        default_params = merge_params(default_params, yaml_params)
-    skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'device_preset_version'}
-    return {
-        key: (value if key in skip_convert else convert_value(value))
-        for key, value in default_params.items()
-    }
+    skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
+                    'enhanced_depth_model_path', 'depth_colorizer_mode', 'device_preset_version'}
+
+    result = {}
+    for key, value in default_params.items():
+        # An empty optional boolean means "auto". Do not pass it to the ROS node,
+        # because a declared bool parameter cannot represent an unset value.
+        if key in OPTIONAL_BOOLEAN_PARAMS and value == '':
+            continue
+        if key in skip_convert:
+            result[key] = value
+        elif 'enable_pub_plugins' in key:
+            if isinstance(value, str):
+                if value.startswith('[') and value.endswith(']'):
+                    try:
+                        result[key] = yaml.safe_load(value)
+                    except:
+                        result[key] = [value]
+                else:
+                    result[key] = [value]
+            elif isinstance(value, list):
+                result[key] = value
+            else:
+                result[key] = [str(value)]
+        else:
+            result[key] = convert_value(value)
+
+    return result


 def generate_launch_description():
    args = [
+        DeclareLaunchArgument('device_type', default_value='camera'),
        DeclareLaunchArgument('camera_name', default_value='camera'),
-        DeclareLaunchArgument('depth_registration', default_value='true'),
+        DeclareLaunchArgument('depth_registration', default_value='false'),
        DeclareLaunchArgument('serial_number', default_value=''),
        DeclareLaunchArgument('usb_port', default_value=''),
        DeclareLaunchArgument('device_num', default_value='1'),
+        # Bag recording: record the live stream to an Orbbec .bag file
+        DeclareLaunchArgument('bag_record_filename', default_value=''),
+        # Bag playback: load a previously recorded .bag file as a virtual device
+        DeclareLaunchArgument('bag_filename', default_value=''),
+        DeclareLaunchArgument('bag_loop', default_value='false'),
        DeclareLaunchArgument('upgrade_firmware', default_value=''),
        DeclareLaunchArgument('preset_firmware_path', default_value=''),
        DeclareLaunchArgument('load_config_json_file_path', default_value=''),
@@ -68,12 +113,15 @@ def generate_launch_description():
        DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
        DeclareLaunchArgument('cloud_frame_id', default_value=''),
        DeclareLaunchArgument('connection_delay', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
        DeclareLaunchArgument('color_width', default_value='0'),
        DeclareLaunchArgument('color_height', default_value='0'),
        DeclareLaunchArgument('color_fps', default_value='0'),
        DeclareLaunchArgument('color_format', default_value='ANY'),
        DeclareLaunchArgument('enable_color', default_value='true'),
        DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
        DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
        DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
@@ -97,15 +145,21 @@ def generate_launch_description():
        DeclareLaunchArgument('color_contrast', default_value='-1'),
        DeclareLaunchArgument('color_hue', default_value='-1'),
        DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),#range: 0 - 6, default: 3
+        DeclareLaunchArgument('color_anti_flicker', default_value='false'),
        DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
        DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
        DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
+        DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising.
+        #Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support.
+
        DeclareLaunchArgument('depth_width', default_value='0'),
        DeclareLaunchArgument('depth_height', default_value='0'),
        DeclareLaunchArgument('depth_fps', default_value='0'),
        DeclareLaunchArgument('depth_format', default_value='ANY'),
        DeclareLaunchArgument('enable_depth', default_value='true'),
        DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
        DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
        DeclareLaunchArgument('depth_precision', default_value=''),
@@ -123,6 +177,8 @@ def generate_launch_description():
        DeclareLaunchArgument('left_ir_format', default_value='ANY'),
        DeclareLaunchArgument('enable_left_ir', default_value='false'),
        DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
        DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
        DeclareLaunchArgument('left_ir_flip', default_value='false'),
@@ -135,6 +191,8 @@ def generate_launch_description():
        DeclareLaunchArgument('right_ir_format', default_value='ANY'),
        DeclareLaunchArgument('enable_right_ir', default_value='false'),
        DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
        DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
        DeclareLaunchArgument('right_ir_flip', default_value='false'),
@@ -161,20 +219,25 @@ def generate_launch_description():
        DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
        DeclareLaunchArgument('ir_info_url', default_value=''),
        DeclareLaunchArgument('color_info_url', default_value=''),
+
        # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
        # If you do not want to automatically enumerate network devices,
        # you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
-        DeclareLaunchArgument('enumerate_net_device', default_value='false'),
+        DeclareLaunchArgument('enumerate_net_device', default_value='true'),
        DeclareLaunchArgument('net_device_ip', default_value=''),
        DeclareLaunchArgument('net_device_port', default_value='0'),
+        DeclareLaunchArgument('device_access_mode', default_value='Default'), # Default, EA or CA . only for 335le
        DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
        DeclareLaunchArgument('log_level', default_value='info'),
        DeclareLaunchArgument('log_file_name', default_value=''),
        DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
        DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
+        DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
        DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
-        DeclareLaunchArgument('enable_ldp', default_value='true'),
+        DeclareLaunchArgument('enable_ldp', default_value='false'),
        DeclareLaunchArgument('ldp_power_level', default_value='-1'),
+        DeclareLaunchArgument('enable_lrm_obstacle_distance_publish', default_value='false'),
+        DeclareLaunchArgument('lrm_obstacle_distance_publish_rate', default_value='10.0'),
        DeclareLaunchArgument('sync_mode', default_value='standalone'),
        DeclareLaunchArgument('depth_delay_us', default_value='0'),
        DeclareLaunchArgument('color_delay_us', default_value='0'),
@@ -182,6 +245,7 @@ def generate_launch_description():
        DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
        DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
        DeclareLaunchArgument('enable_fps_boost', default_value='false'),
+        DeclareLaunchArgument('software_trigger_enabled', default_value='true'),
        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
        DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
        DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
@@ -192,13 +256,20 @@ def generate_launch_description():
        DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
        DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
        DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
-        DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'),
-        DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
+        # Empty means that the node will not change the device's current setting.
+        DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value=''),
+        DeclareLaunchArgument('enable_noise_removal_filter', default_value=''),
+        DeclareLaunchArgument('enable_disp_outliers_filter', default_value='false'),
        DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
        DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
        DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
        DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
+        DeclareLaunchArgument('enable_spatial_fast_filter', default_value='false'),
+        DeclareLaunchArgument('enable_spatial_moderate_filter', default_value='false'),
        DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
+        DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
+        DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
+        DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
        DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
        DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
        DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -217,18 +288,26 @@ def generate_launch_description():
        DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
        DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
        DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
+        DeclareLaunchArgument('spatial_fast_filter_radius', default_value='-1'),
+        DeclareLaunchArgument('spatial_moderate_filter_diff_threshold', default_value='-1'),
+        DeclareLaunchArgument('spatial_moderate_filter_magnitude', default_value='-1'),
+        DeclareLaunchArgument('spatial_moderate_filter_radius', default_value='-1'),
        DeclareLaunchArgument('align_mode', default_value='SW'),
        DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
-        DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
+        DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds
        DeclareLaunchArgument('enable_laser', default_value='true'),
        DeclareLaunchArgument('depth_precision', default_value=''),
        DeclareLaunchArgument('device_preset', default_value='Default'),
        DeclareLaunchArgument('device_preset_version', default_value=''),
+        DeclareLaunchArgument('color_preset', default_value='Default'),# color preset name reported by the device
        DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
        DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
        DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
        DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
+        DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
+        DeclareLaunchArgument('enable_frame_drop_log', default_value='false'),
+        DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
        DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
@@ -271,9 +350,28 @@ def generate_launch_description():
        DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
        DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
        DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
+        DeclareLaunchArgument('show_fps_enable', 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"]'),
+        #depth image transport plugins
+        DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw"]'),
+        #infra1
+        DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
+        #infra2
+        DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
+
+        # Force IP parameters
+        DeclareLaunchArgument("force_ip_enable", default_value="false"),  # Whether to enable Force IP function
+        DeclareLaunchArgument("force_ip_mac", default_value=""),  # If multiple cameras are connected, specify target MAC (e.g. "54:14:FD:06:07:DA")
+        DeclareLaunchArgument("force_ip_address", default_value="192.168.1.10"),  # Static IP address to assign
+        DeclareLaunchArgument("force_ip_subnet_mask", default_value="255.255.255.0"),  # Subnet mask used for static IP
+        DeclareLaunchArgument("force_ip_gateway", default_value="192.168.1.1"),  # Gateway address used for static IP
+
+        DeclareLaunchArgument('intra_camera_sync_reference', default_value=""),#Start, Middle or End
+        DeclareLaunchArgument('attach_to_shared_component_container', default_value='false'),
+        DeclareLaunchArgument('component_container_name', default_value='orbbec_container'),
        DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
-        DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
-        DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),

    ]

@@ -295,32 +393,37 @@ def generate_launch_description():
                )
            ]
        else:
-            attach_to_shared_component_container_arg = LaunchConfiguration('attach_to_shared_component_container', default=False)
-            component_container_name_arg = LaunchConfiguration('component_container_name', default='orbbec_container')
-
-            orbbec_container = Node(
-                name=component_container_name_arg,
-                package='rclcpp_components',
-                executable='component_container_mt',
-                output='screen',
-                condition=UnlessCondition(attach_to_shared_component_container_arg)
+            attach_to_shared_container = LaunchConfiguration(
+                "attach_to_shared_component_container"
            )
-            return [
-                orbbec_container,
-                LoadComposableNodes(
-                  target_container=component_container_name_arg,
-                  composable_node_descriptions=[
+            container_name = LaunchConfiguration("component_container_name")
+            camera_container = Node(
+                package="rclcpp_components",
+                executable="component_container_mt",
+                name=container_name,
+                output="screen",
+                condition=UnlessCondition(attach_to_shared_container),
+            )
+            camera_component = LoadComposableNodes(
+                target_container=container_name,
+                composable_node_descriptions=[
                    ComposableNode(
-                      namespace=LaunchConfiguration("camera_name"),
-                      name=LaunchConfiguration("camera_name"),
-                      package='orbbec_camera',
-                      plugin='orbbec_camera::OBCameraNodeDriver',
-                      parameters=params,
-                      extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
+                        namespace=LaunchConfiguration("camera_name"),
+                        package="orbbec_camera",
+                        plugin="orbbec_camera::OBCameraNodeDriver",
+                        name=LaunchConfiguration("camera_name"),
+                        parameters=params,
+                        extra_arguments=[
+                            {
+                                "use_intra_process_comms": LaunchConfiguration(
+                                    "use_intra_process_comms"
+                                )
+                            }
+                        ],
                    )
-                  ]
-                )
-            ]
+                ],
+            )
+            return [camera_container, camera_component]

    return LaunchDescription(
        args + [
@@ -0,0 +1,65 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(
+        package_dir,
+        "examples",
+        "multi_camera_shared_container",
+    )
+    component_container_name = "shared_orbbec_container"
+
+    shared_orbbec_container = Node(
+        name=component_container_name,
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
+    )
+
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_shared_container.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "2-1",
+            "device_num": "2",
+            "attach_to_shared_component_container": "true",
+            "component_container_name": component_container_name,
+            "use_intra_process_comms": "true",
+        }.items(),
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series_shared_container.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "2-2",
+            "device_num": "2",
+            "attach_to_shared_component_container": "true",
+            "component_container_name": component_container_name,
+            "use_intra_process_comms": "true",
+        }.items(),
+    )
+
+    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
+
+    # Launch description
+    ld = LaunchDescription(
+        [
+            shared_orbbec_container,
+            TimerAction(period=0.0, actions=[GroupAction([launch1_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch2_include])]),
+        ]
+    )
+
+    return ld