OrbbecSDK_ROS2

Multiple devices

• To get the usb_port of the camera, plug in the camera and run the following command in the terminal:

ros2 run orbbec_camera list_devices_node

• Go to the OrbbecSDK_ROS2/launch/multi_xxx.launch.py file and change the usb_port.
• Don’t forget to put the include tag inside the group tag. Otherwise, the parameter values of different cameras may become contaminated.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    # Node configuration
    cleanup_node = Node(
        package='orbbec_camera',
        executable='ob_cleanup_shm_node',
        name='camera',
        output='screen'
    )

    # Include launch files
    package_dir = get_package_share_directory('orbbec_camera')
    launch_file_dir = os.path.join(package_dir, 'launch')
    launch1_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'gemini2.launch.py')
        ),
        launch_arguments={
            'camera_name': 'camera_01',
            'usb_port': '6-2.4.4.2',  # replace your usb port here
        }.items()
    )

    launch2_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'gemini2.launch.py')
        ),
        launch_arguments={
            'camera_name': 'camera_02',
            'usb_port': '6-2.4.1',  # replace your usb port here
        }.items()
    )

    # If you need more cameras, just add more launch_include here, and change the usb_port
    # Launch description
    ld = LaunchDescription([
        cleanup_node,
        GroupAction([launch1_include]),
        GroupAction([launch2_include]),
    ])

    return ld

• Note that the astra camera uses semaphores for process synchronization. If the camera start fails, the semaphore file may be left in /dev/shm, causing the next start to become stuck. To avoid this, run the following command before launching:

ros2 run orbbec_camera ob_cleanup_shm_node

This will clean up /dev/shm/.

• To launch the cameras, run the following command:

ros2 launch orbbec_camera multi_camera.launch.py

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