use shared container to launch 4 camera node

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -636,6 +636,8 @@ class OBCameraNode {
   int interleave_skip_index_ = 1;
   int interleave_skip_depth_index_ = 1;
 
+  double delta_duration_ = 5000.0;
+  int delta_fps_ = 2;
   VideoStreamInfo color_stream_info_ = {OB_FRAME_COLOR, std::chrono::steady_clock::now()};
   VideoStreamInfo depth_stream_info_ = {OB_FRAME_DEPTH, std::chrono::steady_clock::now()};
   VideoStreamInfo left_ir_stream_info_ = {OB_FRAME_IR_LEFT, std::chrono::steady_clock::now()};

orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py

@@ -5,7 +5,8 @@ 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.conditions import UnlessCondition
+from launch_ros.actions import LoadComposableNodes
 
 def load_yaml(file_path):
     with open(file_path, 'r') as f:
@@ -185,6 +186,11 @@ def generate_launch_description():
         DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
         DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
         DeclareLaunchArgument('interleave_skip_index', default_value='0'), # 0:skip pattern ir  1: skip flood ir
+        DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
+        DeclareLaunchArgument('attach_to_shared_component_container', default_value='false'),
+        DeclareLaunchArgument('component_container_name', default_value='orbbec_container'),
+        DeclareLaunchArgument('delta_duration', default_value='5000.0'),
+        DeclareLaunchArgument('delta_fps', default_value='2'),
     ]
 
     def get_params(context, args):
@@ -205,25 +211,31 @@ 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)
+            )
             return [
-                GroupAction([
+                orbbec_container,
-                    PushRosNamespace(LaunchConfiguration("camera_name")),
+                LoadComposableNodes(
-                    ComposableNodeContainer(
+                  target_container=component_container_name_arg,
-                        name="camera_container",
+                  composable_node_descriptions=[
-                        namespace="",
+                    ComposableNode(
-                        package="rclcpp_components",
+                      namespace=LaunchConfiguration("camera_name"),
-                        executable="component_container",
+                      name=LaunchConfiguration("camera_name"),
-                        composable_node_descriptions=[
+                      package='orbbec_camera',
-                            ComposableNode(
+                      plugin='orbbec_camera::OBCameraNodeDriver',
-                                package="orbbec_camera",
+                      parameters=params,
-                                plugin="orbbec_camera::OBCameraNodeDriver",
+                      extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
-                                name=LaunchConfiguration("camera_name"),
-                                parameters=params,
-                            ),
-                        ],
-                        output="screen",
                     )
-                ])
+                  ]
+                )
             ]
 
     return LaunchDescription(

orbbec_camera/launch/multi_camera_synced.launch.py

@@ -4,6 +4,9 @@ from launch import LaunchDescription
 from launch_ros.actions import Node
 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
 
 def generate_launch_description():
     # Include launch files
@@ -12,6 +15,22 @@ def generate_launch_description():
     config_file_dir = os.path.join(package_dir, "config")
     config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
 
+    use_intra_process_comms_arg = DeclareLaunchArgument(
+        'use_intra_process_comms', default_value='true',
+    )
+    attach_to_shared_component_container_arg = DeclareLaunchArgument(
+        'attach_to_shared_component_container', default_value='true',
+    )
+
+    shared_container_name = "shared_orbbec_container"
+    shared_container = Node(
+        name=shared_container_name,
+        package='rclcpp_components',
+        executable='component_container_mt',
+        output='screen',
+        condition=IfCondition(LaunchConfiguration('attach_to_shared_component_container'))
+    )
+
     front_camera = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(launch_file_dir, "gemini_330_series_interleave_laser_g335L.launch.py")
@@ -22,6 +41,9 @@ def generate_launch_description():
             "device_num": "4",
             "sync_mode": "primary",
             "config_file_path": config_file_path,
+            'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
+            'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
+            'component_container_name': shared_container_name,
         }.items(),
     )
 
@@ -35,6 +57,9 @@ def generate_launch_description():
             "device_num": "4",
             "sync_mode": "secondary_synced",
             "config_file_path": config_file_path,
+            'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
+            'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
+            'component_container_name': shared_container_name,
         }.items(),
     )
     right_camera = IncludeLaunchDescription(
@@ -47,6 +72,9 @@ def generate_launch_description():
             "device_num": "4",
             "sync_mode": "secondary_synced",
             "config_file_path": config_file_path,
+            'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
+            'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
+            'component_container_name': shared_container_name,
         }.items(),
     )
     rear_camera = IncludeLaunchDescription(
@@ -59,16 +87,46 @@ def generate_launch_description():
             "device_num": "4",
             "sync_mode": "secondary_synced",
             "config_file_path": config_file_path,
+            'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
+            'attach_to_shared_component_container': LaunchConfiguration("attach_to_shared_component_container"),
+            'component_container_name': shared_container_name,
         }.items(),
     )
 
     # Launch description
+    # ld = LaunchDescription(
+    #   [
+    #       TimerAction(period=0.5, actions=[GroupAction([left_camera])]),
+    #       TimerAction(period=0.5, actions=[GroupAction([right_camera])]),
+    #       TimerAction(period=0.5, actions=[GroupAction([rear_camera])]),
+    #       TimerAction(period=0.5, actions=[GroupAction([front_camera])]),
+    #   ]
+    # )
+    delayed_left_camera = TimerAction(
+        period=0.5,
+        actions=[left_camera],
+    )
+    delayed_right_camera = TimerAction(
+        period=0.5,
+        actions=[right_camera],
+    )
+    delayed_rear_camera = TimerAction(
+        period=0.5,
+        actions=[rear_camera],
+    )
+    delayed_front_camera = TimerAction(
+        period=0.5,
+        actions=[front_camera],
+    )
     ld = LaunchDescription(
       [
-          TimerAction(period=0.5, actions=[GroupAction([left_camera])]),
+        use_intra_process_comms_arg,
-          TimerAction(period=0.5, actions=[GroupAction([right_camera])]),
+        attach_to_shared_component_container_arg,
-          TimerAction(period=0.5, actions=[GroupAction([rear_camera])]),
+        shared_container,
-          TimerAction(period=0.5, actions=[GroupAction([front_camera])]),
+        delayed_left_camera,
+        delayed_right_camera,
+        delayed_rear_camera,
+        delayed_front_camera,
       ]
     )
 

orbbec_camera/src/ob_camera_node.cpp

@@ -1287,6 +1287,9 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<bool>(interleave_frame_enable_, "interleave_frame_enable", false);
   setAndGetNodeParameter<bool>(interleave_skip_enable_, "interleave_skip_enable", false);
   setAndGetNodeParameter<int>(interleave_skip_index_, "interleave_skip_index", 1);
+
+  setAndGetNodeParameter<double>(delta_duration_, "delta_duration", 5000.0);
+  setAndGetNodeParameter<int>(delta_fps_, "delta_fps", 2);
 }
 
 void OBCameraNode::setupTopics() {
@@ -2034,8 +2037,8 @@ void OBCameraNode::updateStreamInfo(VideoStreamInfo& stream_info) {
     double dst_duration = duration;
     int dst_fps = 0;
     stream_index_pair dst_frame_type;
-    double delta_duration = 2000.0;
+    double delta_duration = delta_duration_;
-    int delta_fps = 2;
+    int delta_fps = delta_fps_;
 
     switch (stream_info.frame_type) {
       case OB_FRAME_COLOR: