mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-08 13:57:46 +08:00
51 lines
2.3 KiB
Plaintext
51 lines
2.3 KiB
Plaintext
# GMSL_camera
|
|
|
|
> 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.
|
|
|
|
```bash
|
|
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:
|
|
|
|
```bash
|
|
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](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py) file and change the `usb_port`.
|
|
|
|
```bash
|
|
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](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) to modify them.
|
|
|
|
## Multi GMSL camera synced
|
|
|
|
First, please see how to use [multi_camera_synced](./multi_camera_synced.md).
|
|
|
|
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.](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py)
|
|
|
|
```bash
|
|
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](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) and [camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_params.yaml) to modify them.
|