mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 20:17:47 +08:00
53 lines
1.6 KiB
Python
53 lines
1.6 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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# Node configuration
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cleanup_node = Node(
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package='orbbec_camera',
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executable='ob_cleanup_shm_node',
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name='camera',
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output='screen'
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)
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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, 'gemini2.launch.py')
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),
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launch_arguments={
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'camera_name': 'camera_01',
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'usb_port': '6-2.4.4.2',
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'device_num': '2'
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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, 'gemini2.launch.py')
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),
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launch_arguments={
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'camera_name': 'camera_02',
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'usb_port': '6-2.4.1',
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'device_num': '2'
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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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cleanup_node,
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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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