mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-13 03:30:18 +08:00
46 lines
1.5 KiB
Python
46 lines
1.5 KiB
Python
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 launch_ros.actions import Node
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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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# 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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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'lidar.launch.py')
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),
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launch_arguments={
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'camera_name': 'lidar_01',
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'device_num': '2',
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'net_device_ip': '192.168.1.100',
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'net_device_port': '2228',
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}.items()
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)
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'lidar.launch.py')
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),
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launch_arguments={
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'camera_name': 'lidar_02',
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'device_num': '2',
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'net_device_ip': '192.168.1.101',
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'net_device_port': '2228',
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}.items()
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)
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# If you need more lidar, just add more launch_include here, and change the net_device_ip and net_device_port
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# Launch description
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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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