mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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50 lines
1.5 KiB
Python
50 lines
1.5 KiB
Python
from launch import LaunchDescription
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import launch_ros.actions
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from ament_index_python import get_package_share_directory
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def generate_launch_description():
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ob_params_file1 = (
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get_package_share_directory("orbbec_camera")
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+ "/params/multi_camera/ob_camera1_params.yaml"
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)
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ob_params_file2 = (
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get_package_share_directory("orbbec_camera")
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+ "/params/multi_camera/ob_camera2_params.yaml"
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)
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return LaunchDescription(
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[
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launch_ros.actions.Node(
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package="orbbec_camera",
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namespace="camera1",
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name="camera1",
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executable="orbbec_camera_node",
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output="screen",
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parameters=[ob_params_file1],
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),
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launch_ros.actions.Node(
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package="orbbec_camera",
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namespace="camera2",
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name="camera2",
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executable="orbbec_camera_node",
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output="screen",
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parameters=[ob_params_file2],
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),
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# dummy static transformation from camera1 to camera2
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launch_ros.actions.Node(
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package="tf2_ros",
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executable="static_transform_publisher",
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arguments=[
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"0",
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"0",
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"0",
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"0",
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"0",
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"0",
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"camera1_link",
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"camera2_link",
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],
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),
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]
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)
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