HiveCoreRD/hivecore_robot_drivers
6
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

orbbec dual camera

Browse Source
This commit is contained in:
Your Name
2026-01-29 11:33:17 +08:00
parent 278e280199
commit a0bc503e32
5 changed files with 20 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
ecrt_dev_dual/include/ethercat_driver/zer_config.hpp
View File

@@ -22,7 +22,7 @@ typedef struct {
static zer_offset_t zer_offsets[NUM_SLAVES];
static double rated_currents[NUM_SLAVES]={12.5,12.5,6.3,5.4,5.4,5.4,12.5,12.5,6.3,5.4,5.4,5.4};
static double pos_offsets[NUM_SLAVES]={248214.0,358098.0,251704.0,240977.0,280113.0,54646.0, 211980.0,262157.0,281128.0,270017.0,263697.0,275363.0};
static double pos_offsets[NUM_SLAVES]={248214.0,358098.0,251704.0,240977.0,280113.0,54646.0, 211980.0,262157.0,281128.0,270017.0,268839.0,275363.0};
//static double pos_offsets[NUM_SLAVES]={-13930.0, 95954.0, -10440.0, -21167.0, 17969.0, -207498.0, -50164.0, 13.0, 18984.0, 7873.0, 1553.0, 13219.0};
constexpr double rad_to_count= 524288.0/(2*M_PI);
constexpr double count_to_rad=2*M_PI/524288.0;
@@ -113,4 +113,4 @@ static ec_sync_info_t zer_device_syncs[] = {
{2, EC_DIR_OUTPUT, 1, zer_device_pdos + 0, EC_WD_ENABLE},
{3, EC_DIR_INPUT, 1, zer_device_pdos + 1, EC_WD_DISABLE},
{0xff}
};
};

7
ecrt_dev_dual/launch/dual_arm.launch.py
View File

@@ -25,7 +25,10 @@ def generate_launch_description():
PathJoinSubstitution([
FindPackageShare("ecrt_driver"),
"config", "dual_arm_controllers.yaml"
])],
]),{"lock_memory": True,
"thread_priority": 99,
"cpu_affinity": 6}
],
output="both"))
ld.add_action(Node(
package="robot_state_publisher",
@@ -49,4 +52,4 @@ def generate_launch_description():
ld.add_action(right)
ld.add_action(l_gpio)
ld.add_action(r_gpio)
return ld
return ld

4
orbbec/orbbec_camera/launch/multi_camera.launch.py
View File

@@ -16,7 +16,7 @@ def generate_launch_description():
),
launch_arguments={
'camera_name': 'camera_01',
'usb_port': '1-5',
'usb_port': '2-3.3',
'device_num': '2',
'sync_mode': 'standalone',
'enable_left_ir': 'true',
@@ -30,7 +30,7 @@ def generate_launch_description():
),
launch_arguments={
'camera_name': 'camera_02',
'usb_port': '2-4',
'usb_port': '2-3.4',
'device_num': '2',
'sync_mode': 'standalone',
'enable_left_ir': 'true',

4
orbbec/orbbec_camera/launch/multi_camera_synced.launch.py
View File

@@ -20,7 +20,7 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "camera_01",
"usb_port": "2-1",
"usb_port": "2-3.3",
"device_num": "2",
"sync_mode": "primary",
"config_file_path": config_file_path,
@@ -34,7 +34,7 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "camera_02",
"usb_port": "2-3",
"usb_port": "2-3.4",
"device_num": "2",
"sync_mode": "secondary_synced",
"config_file_path": secondary_config_file_path,

18
orbbec/orbbec_camera/launch/orbbec_multicamera.launch.py
View File

@@ -19,8 +19,8 @@ def generate_launch_description():
'camera_model': 'gemini330_series',
'attach_component_container_enable': 'true',
'camera_name': 'G330_0',
'usb_port': '2-1',
'device_num': '4',
'usb_port': '2-3.3',
'device_num': '2',
# 'sync_mode': 'primary',
}.items()
)
@@ -33,13 +33,13 @@ def generate_launch_description():
'camera_model': 'gemini330_series',
'attach_component_container_enable': 'false',
'camera_name': 'G330_1',
'usb_port': '2-4',
'device_num': '4',
'usb_port': '2-3.4',
'device_num': '2',
# 'sync_mode': 'secondary_synced',
# 'trigger_out_enabled': 'false',
}.items()
)
'''
G330_2 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(launch_file_dir, 'orbbec_camera.launch.py')
@@ -69,18 +69,18 @@ def generate_launch_description():
# 'trigger_out_enabled': 'false',
}.items()
)
'''
# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
# Launch description
ld = LaunchDescription(
[
TimerAction(period=0.0, actions=[GroupAction([G330_1])]),
TimerAction(period=2.0, actions=[GroupAction([G330_2])]),
TimerAction(period=4.0, actions=[GroupAction([G330_3])]),
# TimerAction(period=2.0, actions=[GroupAction([G330_2])]),
# TimerAction(period=4.0, actions=[GroupAction([G330_3])]),
TimerAction(period=6.0, actions=[GroupAction([G330_0])]),
# The primary camera should be launched at last
]
)
return ld
return ld