mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 19:20:20 +08:00
112 lines
3.5 KiB
Bash
Executable File
112 lines
3.5 KiB
Bash
Executable File
#!/bin/bash
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# Define the vendor ID for Orbbec devices
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VID="2bc5"
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# Function to get USB port for a given serial number
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get_usb_port() {
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local serial=$1
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for dev in /sys/bus/usb/devices/*; do
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if [ -e "$dev/idVendor" ]; then
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vid=$(cat "$dev/idVendor")
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if [ "$vid" == "${VID}" ]; then
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dev_serial=$(cat "$dev/serial" 2>/dev/null)
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if [ "$dev_serial" == "$serial" ]; then
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echo $(basename $dev)
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return
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fi
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fi
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fi
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done
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echo "Unknown"
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}
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# Get USB ports for each camera
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front_port=$(get_usb_port "CP3S34D00051") # primary camera
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rear_port=$(get_usb_port "CP3L44P00047") # secondary-synced camera
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left_port=$(get_usb_port "CP3L44P0005Y") # secondary-synced camera
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right_port=$(get_usb_port "CP3L44P00054") # secondary-synced camera
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# Generate the launch file
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cat << EOF > multi_camera_synced.launch.py
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, TimerAction
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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package_dir = get_package_share_directory('orbbec_camera')
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launch_file_dir = os.path.join(package_dir, 'launch')
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config_file_dir = os.path.join(package_dir, 'config')
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config_file_path = os.path.join(config_file_dir, 'camera_params.yaml')
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front_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
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),
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launch_arguments={
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'camera_name': 'front_camera',
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'usb_port': '$front_port',
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'device_num': '4',
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'sync_mode': 'software_triggering',
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'config_file_path': config_file_path
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}.items()
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)
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rear_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
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),
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launch_arguments={
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'camera_name': 'rear_camera',
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'usb_port': '$rear_port',
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'device_num': '4',
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'sync_mode': 'hardware_triggering',
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'config_file_path': config_file_path
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}.items()
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)
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left_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
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),
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launch_arguments={
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'camera_name': 'left_camera',
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'usb_port': '$left_port',
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'device_num': '4',
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'sync_mode': 'hardware_triggering',
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'config_file_path': config_file_path
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}.items()
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)
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right_camera = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini_330_series.launch.py')
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),
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launch_arguments={
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'camera_name': 'right_camera',
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'usb_port': '$right_port',
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'device_num': '4',
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'sync_mode': 'hardware_triggering',
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'config_file_path': config_file_path
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}.items()
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)
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ld = LaunchDescription([
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GroupAction([rear_camera]),
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GroupAction([left_camera]),
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GroupAction([right_camera]),
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TimerAction(period=3.0, actions=[GroupAction([front_camera])]), # The primary camera should be launched at last
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])
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return ld
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EOF
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echo "Launch file 'multi_camera_synced.launch.py' has been generated."
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