refactor: reorganize multi-camera examples

2026-10-07 13:37:44 +08:00 · 2026-09-07 11:27:57 +08:00
parent d38f0db90d
commit 7c4954791c
9 changed files with 315 additions and 290 deletions
@@ -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