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30 lines
1.3 KiB
XML
30 lines
1.3 KiB
XML
<launch>
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<!-- unique camera name-->
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<arg name="camera_name" default="camera"/>
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<!-- Hardware depth registration -->
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<arg name="3d_sensor" default="gemini2"/>
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<!-- stereo_s_u3, astrapro, astra -->
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<arg name="camera1_prefix" default="01"/>
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<arg name="camera2_prefix" default="02"/>
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<arg name="camera1_usb_port" default="2-3.3"/>
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<arg name="camera2_usb_port" default="1-4.4"/>
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<arg name="device_num" default="2"/>
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<node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/>
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<group>
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<include file="$(find-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
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<arg name="camera_name" value="camera_$(var camera1_prefix)"/>
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<arg name="usb_port" value="$(var camera1_usb_port)"/>
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<arg name="device_num" value="$(var device_num)"/>
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</include>
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</group>
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<group>
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<include file="$(find-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
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<arg name="camera_name" value="camera_$(var camera2_prefix)"/>
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<arg name="usb_port" value="$(var camera2_usb_port)"/>
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<arg name="device_num" value="$(var device_num)"/>
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</include>
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</group>
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<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
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args="0 0 0 0 0 0 camera01_link camera02_link"/>
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</launch>
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