5.2.4. GMSL_camera

This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.

You can find example usage code in the example.

5.2.4.1. Single GMSL camera

The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.

ros2 launch orbbec_camera gemini_330_gmsl.launch.py

5.2.4.2. Multi GMSL camera

To get the usb_port of the GMSL camera, plug in the camera and run the following command in the terminal:

ros2 run orbbec_camera list_devices_node

For example, the obtained gmsl camera usb_port: gmsl2-1

Go to the multi_gmsl_camera.launch.py file and change the usb_port.

ros2 launch orbbec_camera multi_gmsl_camera.launch.py

Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to camera_secondary_params.yaml to modify them.

5.2.4.3. Multi GMSL camera synced

First, please see how to use multi_camera_synced.

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.

ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py

Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to camera_secondary_params.yaml and camera_params.yaml to modify them.