Add multi network camera sample, see #61

orbbec_camera/launch/femto_mega.launch.py

@@ -16,6 +16,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_registration', default_value='false'),
         DeclareLaunchArgument('serial_number', default_value=''),
         DeclareLaunchArgument('usb_port', default_value=''),
+        DeclareLaunchArgument('net_device_ip', default_value=''),
+        DeclareLaunchArgument('net_device_port', default_value='0'),
         DeclareLaunchArgument('device_num', default_value='1'),
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),

orbbec_camera/launch/multi_net_camera.launch.py

@@ -0,0 +1,45 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+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, 'femto_mega.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'camera_01',
+            'net_device_ip': '192.168.2.10',
+            'net_device_port': '8090',
+            'sync_mode': 'standalone'
+        }.items()
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'femto_mega.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'camera_02',
+            'net_device_ip': '192.168.1.11',
+            'net_device_port': '8090',
+            'sync_mode': 'standalone'
+        }.items()
+    )
+
+    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
+
+    # Launch description
+    ld = LaunchDescription([
+        GroupAction([launch1_include]),
+        GroupAction([launch2_include]),
+    ])
+
+    return ld

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -435,6 +435,8 @@ void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int
     RCLCPP_ERROR_STREAM(logger_, "Invalid net device ip or port");
     return;
   }
+  RCLCPP_INFO_STREAM(logger_, "Connecting to net device ip: " << net_device_ip
+                             << " port: " << net_device_port);
   std::this_thread::sleep_for(std::chrono::milliseconds(connection_delay_));
   auto device = ctx_->createNetDevice(net_device_ip.c_str(), net_device_port);
   if (device == nullptr) {