Add gmsl_camera example

orbbec_camera/examples/README.MD

@@ -14,6 +14,10 @@ How to use interleave_ae in OrbbecSDK_ROS2.
 
 How to use disparity_search_offset in OrbbecSDK_ROS2.
 
+# gmsl_camera
+
+How to use gmsl_camera in OrbbecSDK_ROS2.
+
 # multi_camera_synced_verification_tool
 
 How to verify the synchronization accuracy of multi-camera synced.

orbbec_camera/examples/gmsl_camera/README.MD

@@ -0,0 +1,47 @@
+# GMSL_camera
+
+> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only G335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.
+
+## Single GMSL camera
+
+The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.
+
+```bash
+ros2 launch orbbec_camera gemini_330_series.launch.py
+```
+
+## Multi GMSL camera
+
+To get the `usb_port` of the GMSL camera, plug in the camera and run the following command in the terminal:
+
+```bash
+ros2 run orbbec_camera list_devices_node
+```
+
+For example, the obtained gmsl camera `usb_port`: `gmsl2-1`
+
+Go to the [multi_camera.launch.py](../../launch/multi_camera.launch.py) file and change the `usb_port`.
+
+```bash
+ros2 launch orbbec_camera multi_camera.launch.py
+```
+
+## Multi GMSL camera synced
+
+First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD).
+
+In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the `primary` mode. Each GMSL camera is `secondary`.
+
+### Additional Parameter Settings
+
+gmsl_trigger_fps : set hardware soc trigger source frame rate.
+
+enable_gmsl_trigger : enable hardware soc trigger.
+
+### Run the launch
+
+Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](multi_gmsl_camera_synced.launch.py)
+
+```bash
+ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py
+```

orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py

@@ -0,0 +1,57 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+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")
+    config_file_path = os.path.join(config_file_dir, "camera_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",
+            "config_file_path": config_file_path,
+            "trigger_out_enabled": "false",
+            "gmsl_trigger_fps": "3000",
+            "enable_gmsl_trigger": "true",
+        }.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": config_file_path,
+            "trigger_out_enabled": "false",
+            "enable_gmsl_trigger": "false",
+        }.items(),
+    )
+
+
+    # Launch description
+    ld = LaunchDescription(
+        [
+            # The sending the gmsl_trigger signal gsml camera should be launched at lfirst
+            TimerAction(period=0.0, actions=[GroupAction([launch1_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch2_include])]),
+        ]
+    )
+
+    return ld

orbbec_camera/examples/multi_camera_synced_verification_tool/multi_camera_synced_verify.launch.py

@@ -88,7 +88,7 @@ def generate_launch_description():
             "device_num": "2",
             "sync_mode": "primary",
             "config_file_path": config_file_path,
-            "trigger_out_enabled": "false",
+            "trigger_out_enabled": "true",
             "attach_to_shared_component_container": attach_to_shared_component_container_arg,
             "component_container_name": component_container_name_arg,
         }.items(),

orbbec_camera/launch/multi_camera_synced.launch.py

@@ -23,6 +23,7 @@ def generate_launch_description():
             "device_num": "2",
             "sync_mode": "primary",
             "config_file_path": config_file_path,
+            "trigger_out_enabled": "true"
         }.items(),
     )
 
@@ -41,7 +42,6 @@ def generate_launch_description():
     )
 
 
-    # If you need more cameras, just add more launch_include here, and change the usb_port and device_num
 
     # Launch description
     ld = LaunchDescription(