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orbbec dual camera

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2026-01-29 11:33:17 +08:00
parent 278e280199
commit a0bc503e32
5 changed files with 20 additions and 17 deletions
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4
orbbec/orbbec_camera/launch/multi_camera.launch.py
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@@ -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