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Add support for multiple cameras in multiple robots #82

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Add support for multiple cameras in multiple robots #82

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1 change: 1 addition & 0 deletions orbbec_camera/include/orbbec_camera/ob_camera_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -352,6 +352,7 @@ class OBCameraNode {
std::unique_ptr<ob::Pipeline> pipeline_ = nullptr;
std::unique_ptr<ob::Pipeline> imuPipeline_ = nullptr;
std::atomic_bool pipeline_started_{false};
std::string prefix_ = "";
std::string camera_name_ = "camera";
const std::string imu_optical_frame_id_ = "camera_gyro_optical_frame";
const std::string imu_frame_id_ = "camera_gyro_frame";
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11 changes: 6 additions & 5 deletions orbbec_camera/launch/astra.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
Expand Down Expand Up @@ -99,14 +100,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -119,7 +120,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
11 changes: 6 additions & 5 deletions orbbec_camera/launch/astra2.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
Expand Down Expand Up @@ -107,14 +108,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -127,7 +128,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
11 changes: 6 additions & 5 deletions orbbec_camera/launch/astra_adv.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
Expand Down Expand Up @@ -99,14 +100,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -119,7 +120,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
11 changes: 6 additions & 5 deletions orbbec_camera/launch/astra_embedded_s.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
Expand Down Expand Up @@ -99,14 +100,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -119,7 +120,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
11 changes: 6 additions & 5 deletions orbbec_camera/launch/astra_pro2.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
Expand Down Expand Up @@ -99,14 +100,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -119,7 +120,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
11 changes: 6 additions & 5 deletions orbbec_camera/launch/astra_stereo_u3.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
Expand Down Expand Up @@ -99,14 +100,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -119,7 +120,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
11 changes: 6 additions & 5 deletions orbbec_camera/launch/dabai.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
Expand Down Expand Up @@ -99,14 +100,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -119,7 +120,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
11 changes: 6 additions & 5 deletions orbbec_camera/launch/dabai_d1.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
Expand Down Expand Up @@ -83,14 +84,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -103,7 +104,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
11 changes: 6 additions & 5 deletions orbbec_camera/launch/dabai_dcl.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
Expand Down Expand Up @@ -120,14 +121,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -140,7 +141,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
11 changes: 6 additions & 5 deletions orbbec_camera/launch/dabai_dcw.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('prefix', default_value=''),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
Expand Down Expand Up @@ -99,14 +100,14 @@ def generate_launch_description():
compose_node = ComposableNode(
package="orbbec_camera",
plugin="orbbec_camera::OBCameraNodeDriver",
name=LaunchConfiguration("camera_name"),
namespace="",
name="orbbec_node_driver",
namespace=LaunchConfiguration("camera_name"),
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name="camera_container",
namespace="",
name="container",
namespace=LaunchConfiguration("camera_name"),
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
Expand All @@ -119,7 +120,7 @@ def generate_launch_description():
args
+ [
GroupAction(
[PushRosNamespace(LaunchConfiguration("camera_name")), container]
[PushRosNamespace(LaunchConfiguration("prefix")), container]
)
]
)
Expand Down
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