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https://github.com/orbbec/OrbbecSDK_ROS2.git
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109 lines
3.4 KiB
Markdown
109 lines
3.4 KiB
Markdown
## 使用Orbbec ROS 2包配置多个摄像头
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本节介绍如何在ROS 2环境中同时配置和使用多个Orbbec摄像头。
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### 识别摄像头USB端口
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#### 列出连接的摄像头的脚本
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要确定摄像头连接到哪些USB端口，您可以使用以下bash脚本。该脚本列出了连接到系统的所有Orbbec设备及其USB端口和序列号。
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```bash
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#!/bin/bash
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VID="2bc5"
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for dev in /sys/bus/usb/devices/*; do
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if [ -e "$dev/idVendor" ]; then
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vid=$(cat "$dev/idVendor")
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if [ "$vid" == "${VID}" ]; then
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port=$(basename $dev)
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product=$(cat "$dev/product" 2>/dev/null) # 产品名称
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serial=$(cat "$dev/serial" 2>/dev/null) # 序列号
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echo "发现Orbbec设备 $product，usb端口 $port，序列号 $serial"
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fi
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fi
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done
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```
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将此脚本保存为一个文件，并在您的终端中执行，以输出连接的摄像头列表。
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### 启动多个摄像头
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#### 多摄像头启动配置
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您可以通过为每个摄像头指定不同的USB端口来启动多个摄像头。下面是一个使用ROS 2启动系统启动两个摄像头的Python脚本示例。
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```python
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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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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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_file_dir, 'gemini_330_series.launch.py')),
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launch_arguments={'camera_name': 'camera_01', 'usb_port': '2-3.4.4.4.1', 'device_num': '2', 'sync_mode': 'free_run'}.items()
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)
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(launch_file_dir, 'gemini_330_series.launch.py')),
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launch_arguments={'camera_name': 'camera_02', 'usb_port': '2-3.4.4.4.3', 'device_num': '2', 'sync_mode': 'free_run'}.items()
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)
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ld = LaunchDescription([
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GroupAction([launch1_include]),
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GroupAction([launch2_include])
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])
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return ld
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```
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#### 运行启动文件
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要执行多摄像头的启动配置，请使用命令：
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```bash
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ros2 launch orbbec_camera multi_camera.launch.py
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```
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### 配置多摄像头的TF树
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#### 两个摄像头的TF配置示例
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使用多个摄像头时，校准它们并为每个摄像头发布静态TF树是必不可少的。以下Python脚本基于您的校准结果配置TF树：
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```python
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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ld = LaunchDescription([
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Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='camera_01_tf',
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arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'camera_01_link'],
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output='screen'
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),
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Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='camera_02_tf',
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arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'camera_02_link'],
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output='screen'
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)
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])
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return ld
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```
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将此配置保存为 `multi_camera_tf.launch.py` 在Orbbec摄像头包的启动目录中。运行它，请使用：
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```bash
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ros2 launch orbbec_camera multi_camera_tf.launch.py
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``` |