refactor: rename and replace GigE Action Command with Action Command functionality

2026-10-09 14:27:02 +08:00 · 2026-09-29 15:08:39 +08:00
parent db5404d1fe
commit dfb47e6ee4
7 changed files with 38 additions and 38 deletions
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+# Action Command
+
+This example starts two Gemini 335Le cameras in Group Actions synchronization mode and one host-side Action Command sender.
+
+## Before running
+
+Use Gemini 335Le firmware 1.8.24 or later and Orbbec SDK 2.10.2 or later. Connect both cameras and the host to the same network, then set the two `net_device_ip` values in `multi_action_command.launch.py` to the camera IP addresses.
+
+## Run
+
+```bash
+ros2 launch orbbec_camera multi_action_command.launch.py
+```
+
+## Full guide
+
+[Action Command (English)](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/multi_camera/action_command.html) · [中文指南](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/5_advanced_guide/multi_camera/action_command.html)
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+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import GroupAction, IncludeLaunchDescription, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    package_dir = get_package_share_directory("orbbec_camera")
+    camera_launch = os.path.join(
+        package_dir, "launch", "gemini_330_series.launch.py"
+    )
+
+    camera_01 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(camera_launch),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "enumerate_net_device": "false",
+            "net_device_ip": "192.168.1.10",
+            "net_device_port": "8090",
+            "sync_mode": "group_actions",
+            "enable_ptp_config": "true",
+            "log_file_name": "camera_01.log",
+        }.items(),
+    )
+
+    camera_02 = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(camera_launch),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "enumerate_net_device": "false",
+            "net_device_ip": "192.168.1.11",
+            "net_device_port": "8090",
+            "sync_mode": "group_actions",
+            "enable_ptp_config": "true",
+            "log_file_name": "camera_02.log",
+        }.items(),
+    )
+
+    action_command_node = Node(
+        package="orbbec_camera",
+        executable="action_command_node",
+        name="action_command_node",
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            action_command_node,
+            TimerAction(period=0.0, actions=[GroupAction([camera_01])]),
+            TimerAction(period=2.0, actions=[GroupAction([camera_02])]),
+        ]
+    )