This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.

Single GMSL camera

The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.

ros2 launch orbbec_camera gemini_330_gmsl.launch.py

Multi GMSL camera

To get the usb_port of the GMSL camera, plug in the camera and run the following command in the terminal:

ros2 run orbbec_camera list_devices_node

For example, the obtained gmsl camera usb_port: gmsl2-1

Go to the multi_gmsl_camera.launch.py file and change the usb_port.

ros2 launch orbbec_camera multi_gmsl_camera.launch.py

Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to camera_secondary_params.yaml to modify them.

Multi GMSL camera synced

First, please see how to use multi_camera_synced.

In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the primary mode. Each GMSL camera is secondary.

Additional Parameter Settings

gmsl_trigger_fps : set hardware soc trigger source frame rate.
enable_gmsl_trigger : enable hardware soc trigger.

Run the launch

Please refer to the configuration in multi_gmsl_camera_synced.launch.py.

ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py

Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to camera_secondary_params.yaml and camera_params.yaml to modify them.