1.4 KiB
GMSL_camera
This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only G335Lg 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_series.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_camera.launch.py file and change the usb_port.
ros2 launch orbbec_camera multi_camera.launch.py
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