Update README framework

2026-10-04 12:07:46 +08:00 · 2025-03-03 18:28:57 +08:00
parent f380fc56bc
commit c3dbf99a9f
37 changed files with 411 additions and 987 deletions
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+
+# Multi-Camera
+
+- To get the `usb_port` of the camera, plug in the camera and run the following command in the terminal:
+
+```bash
+ros2 run orbbec_camera list_devices_node
+```
+
+- Set the `device_num` parameter to the number of cameras you have.
+- Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.py` file and change the `usb_port`.
+- Don't forget to put the `include` tag inside the `group` tag.
+  Otherwise, the parameter values of different cameras may become contaminated.
+
+```python
+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, 'gemini2L.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'camera_01',
+            'usb_port': '6-2.4.4.2',  # replace your usb port here
+            'device_num': '2'
+        }.items()
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'gemini2L.launch.py')
+        ),
+        launch_arguments={
+            'camera_name': 'camera_02',
+            'usb_port': '6-2.4.1',  # replace your usb port here
+            'device_num': '2'
+        }.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
+
+```
+
+- To launch the cameras, run the following command:
+
+```bash
+ros2 launch orbbec_camera multi_camera.launch.py
+```