Update README.MD

2026-09-12 19:20:20 +08:00 · 2025-05-06 17:41:55 +08:00
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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
+```
+
+## No Data Stream from Multiple Cameras
+
+**Insufficient Power Supply**:
+
+- Ensure that each camera is connected to a separate hub.
+- Use a powered hub to provide sufficient power to each camera.
+
+**High Resolution**:
+
+- Try lowering the resolution to resolve data stream issues.
+
+**Increase usbfs_memory_mb Value**:
+
+- Increase the `usbfs_memory_mb` value to 128MB (this is a reference value and can be adjusted based on your system’s needs)
+  by running the following command:
+
+```bash
+    echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
+```
+
+- To make this change permanent, check [this link](https://github.com/OpenKinect/libfreenect2/issues/807).
+
+## Image topic frame rate too low from Multiple Cameras
+
+Refer to the [Fast DDS Configuration](./docs/fastdds_tuning.md) file.