mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-11 02:40:18 +08:00
75 lines
2.6 KiB
Python
75 lines
2.6 KiB
Python
import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory('orbbec_camera')
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launch_file_dir = os.path.join(package_dir, 'launch')
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config_file_dir = os.path.join(package_dir, 'config')
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config_file_path = os.path.join(config_file_dir, 'camera_params.yaml')
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front_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
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),
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launch_arguments={
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'camera_name': 'front_camera',
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'usb_port': '2-1.1',
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'device_num': '4',
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'sync_mode': 'software_triggering',
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'config_file_path': config_file_path,
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}.items()
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)
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left_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
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),
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launch_arguments={
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'camera_name': 'left_camera',
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'usb_port': '2-1.2.1',
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'device_num': '4',
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'sync_mode': 'hardware_triggering',
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'config_file_path': config_file_path,
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}.items()
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)
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rear_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
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),
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launch_arguments={
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'camera_name': 'rear_camera',
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'usb_port': '2-1.2.1',
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'device_num': '4',
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'sync_mode': 'hardware_triggering',
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'config_file_path': config_file_path,
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}.items()
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)
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right_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
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),
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launch_arguments={
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'camera_name': 'right_camera',
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'usb_port': '2-1.2.1',
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'device_num': '4',
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'sync_mode': 'hardware_triggering',
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'config_file_path': config_file_path,
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}.items()
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)
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# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
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# Launch description
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ld = LaunchDescription([
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GroupAction([rear_camera]),
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GroupAction([left_camera]),
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GroupAction([right_camera]),
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TimerAction(period=3.0, actions=[GroupAction([front_camera])]), # The primary camera should be launched at last
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])
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return ld |