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This commit is contained in:
Joe Dong
2023-09-06 21:54:28 +08:00
parent 38333fe793
commit e4b2607b09
2 changed files with 113 additions and 71 deletions
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README.MD
+63 -40
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@@ -206,38 +206,57 @@ ros2 run orbbec_camera list_devices_node
- Don't forget to put the `include` tag inside the `group` tag.
Otherwise, the parameter values of different cameras may become contaminated.
```xml
```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():
# Node configuration
cleanup_node = Node(
package='orbbec_camera',
executable='ob_cleanup_shm_node',
name='camera',
output='screen'
)
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="3d_sensor" default="astra_mini"/>
<!-- stereo_s_u3, astrapro, astra -->
<arg name="camera1_prefix" default="01"/>
<arg name="camera2_prefix" default="02"/>
<!-- TODO: change to your usb port -->
<arg name="camera1_usb_port" default="1-4.2.1"/>
<arg name="camera2_usb_port" default="1-4.2.1"/>
<arg name="device_num" default="2"/>
<node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/>
<group>
<include file="$(find-pkg-share orbbec_camera)/launch/gemini2.launch.xml">
<arg name="camera_name" value="camera_$(var camera1_prefix)"/>
<arg name="usb_port" value="$(var camera1_usb_port)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
</group>
<group>
<include file="$(find-pkg-share orbbec_camera)/launch/dabai_dcw.launch.xml">
<arg name="camera_name" value="camera_$(var camera2_prefix)"/>
<arg name="usb_port" value="$(var camera2_usb_port)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
</group>
<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
args="0 0 0 0 0 0 camera01_link camera02_link"/>
</launch>
# 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, 'gemini2.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, 'gemini2.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([
cleanup_node,
GroupAction([launch1_include]),
GroupAction([launch2_include]),
])
return ld
```
@@ -286,16 +305,21 @@ The following are the launch parameters available:
This field is required when the `enable_colored_point_cloud` is set to `true`.
- `usb_port`: The USB port of the camera. This is required when multiple cameras are used.
- `enable_accel` : Enables the accelerometer.
- `accel_rate`: The frequency of the accelerometer, the optional values are `1.5625hz`,`3.125hz`,`6.25hz`,`12.5hz`,`25hz`,`50hz`,
`100hz`,`200hz`,`500hz`,`1khz`,`2khz`,`4khz`,`8khz`,`16khz`,`32khz`. The specific value depends on the current camera.
- `accel_range` : The range of the accelerometer, the optional values are `2g`,`4g`,`8g`,`16g`. The specific value depends on the current camera.
- `accel_rate`: The frequency of the accelerometer, the optional values
are `1.5625hz`,`3.125hz`,`6.25hz`,`12.5hz`,`25hz`,`50hz`,
`100hz`,`200hz`,`500hz`,`1khz`,`2khz`,`4khz`,`8khz`,`16khz`,`32khz`. The specific value depends on the current camera.
- `accel_range` : The range of the accelerometer, the optional values are `2g`,`4g`,`8g`,`16g`. The specific value
depends on the current camera.
- `enable_gyro`: Whether to enable the gyroscope.
- `gyro_rate` : The frequency of the gyroscope, the optional values are `1.5625hz`,`3.125hz`,`6.25hz`,`12.5hz`,`25hz`,`50hz`,
`100hz`,`200hz`,`500hz`,`1khz`,`2khz`,`4khz`,`8khz`,`16khz`,`32khz`. The specific value depends on the current camera.
- `gyro_range` : The range of the gyroscope, the optional values are `16dps`,`31dps`,`62dps`,`125dps`,`250dps`,`500dps`,`1000dps`,`2000dps`. The specific value depends on the current camera.
- `gyro_rate` : The frequency of the gyroscope, the optional values
are `1.5625hz`,`3.125hz`,`6.25hz`,`12.5hz`,`25hz`,`50hz`,
`100hz`,`200hz`,`500hz`,`1khz`,`2khz`,`4khz`,`8khz`,`16khz`,`32khz`. The specific value depends on the current camera.
- `gyro_range` : The range of the gyroscope, the optional values
are `16dps`,`31dps`,`62dps`,`125dps`,`250dps`,`500dps`,`1000dps`,`2000dps`. The specific value depends on the current
camera.
## Check which profiles the camera supports
```bash
ros2 run orbbec_camera list_camera_profile_mode_node
```
@@ -303,7 +327,7 @@ The following are the launch parameters available:
## Launch files
| product serials | launch file |
| -------------------------------------------- | ----------------------- |
|----------------------------------------------|-------------------------|
| astra+ | astra_adv.launch.py |
| astra /astra mini /astra mini pro /astra pro | astra.launch.py |
| astra2 | astra2.launch.py |
@@ -324,7 +348,6 @@ The following are the launch parameters available:
| gemini e lite | gemini_e_lite.launch.py |
Actually, All launch files all most the same, the only difference is the default value of the parameters.
XML launch file will be removed in the future version.
## Supported hardware products
README_CN.MD
+50 -31
View File
@@ -203,38 +203,57 @@ ros2 run orbbec_camera list_devices_node
- 编辑 `OrbbecSDK_ROS2/launch/multi_xxx.launch.xml` 修改相机的`usb_port`。
- 注意不要忘记在`include` 加上 `group` 标签，不然前面的相机的参数会污染后面的相机的参数。
```xml
```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():
# Node configuration
cleanup_node = Node(
package='orbbec_camera',
executable='ob_cleanup_shm_node',
name='camera',
output='screen'
)
<launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<!-- Hardware depth registration -->
<arg name="3d_sensor" default="astra_mini"/>
<!-- stereo_s_u3, astrapro, astra -->
<arg name="camera1_prefix" default="01"/>
<arg name="camera2_prefix" default="02"/>
<!-- TODO: change to your usb port -->
<arg name="camera1_usb_port" default="1-4.2.1"/>
<arg name="camera2_usb_port" default="1-4.2.1"/>
<arg name="device_num" default="2"/>
<node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/>
<group>
<include file="$(find-pkg-share orbbec_camera)/launch/gemini2.launch.xml">
<arg name="camera_name" value="camera_$(var camera1_prefix)"/>
<arg name="usb_port" value="$(var camera1_usb_port)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
</group>
<group>
<include file="$(find-pkg-share orbbec_camera)/launch/dabai_dcw.launch.xml">
<arg name="camera_name" value="camera_$(var camera2_prefix)"/>
<arg name="usb_port" value="$(var camera2_usb_port)"/>
<arg name="device_num" value="$(var device_num)"/>
</include>
</group>
<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
args="0 0 0 0 0 0 camera01_link camera02_link"/>
</launch>
# 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, 'gemini2.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, 'gemini2.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([
cleanup_node,
GroupAction([launch1_include]),
GroupAction([launch2_include]),
])
return ld
```