mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-13 03:30:18 +08:00
86 lines
2.9 KiB
Python
86 lines
2.9 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_ros.actions import Node
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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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G330_0 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
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),
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launch_arguments={
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'camera_model': 'gemini330_series',
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'attach_component_container_enable': 'true',
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'camera_name': 'G330_0',
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'usb_port': '2-1',
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'device_num': '4',
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# 'sync_mode': 'primary',
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}.items()
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)
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G330_1 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
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),
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launch_arguments={
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'camera_model': 'gemini330_series',
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'attach_component_container_enable': 'false',
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'camera_name': 'G330_1',
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'usb_port': '2-4',
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'device_num': '4',
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# 'sync_mode': 'secondary_synced',
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# 'trigger_out_enabled': 'false',
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}.items()
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)
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G330_2 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
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),
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launch_arguments={
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'camera_model': 'gemini330_series',
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'attach_component_container_enable': 'true',
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'camera_name': 'G330_2',
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'usb_port': '2-7',
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'device_num': '4',
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# 'sync_mode': 'secondary_synced',
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# 'trigger_out_enabled': 'false',
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}.items()
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)
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G330_3 = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
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),
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launch_arguments={
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'camera_model': 'gemini330_series',
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'attach_component_container_enable': 'true',
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'camera_name': 'G330_3',
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'usb_port': '2-3',
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'device_num': '4',
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# 'sync_mode': 'secondary_synced',
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# 'trigger_out_enabled': 'false',
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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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[
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TimerAction(period=0.0, actions=[GroupAction([G330_1])]),
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TimerAction(period=2.0, actions=[GroupAction([G330_2])]),
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TimerAction(period=4.0, actions=[GroupAction([G330_3])]),
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TimerAction(period=6.0, actions=[GroupAction([G330_0])]),
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# The primary camera should be launched at last
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]
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)
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return ld |