使用Orbbec ROS 2包配置多個(gè)攝像頭

本節(jié)介紹如何在ROS 2環(huán)境中同時(shí)配置和使用多個(gè)Orbbec攝像頭。

識(shí)別攝像頭USB端口

列出連接的攝像頭的腳本

要確定攝像頭連接到哪些USB端口，您可以使用以下bash腳本。該腳本列出了連接到系統(tǒng)的所有Orbbec設(shè)備及其USB端口和序列號(hào)。

#!/bin/bash

VID="2bc5"

for dev in /sys/bus/usb/devices/*; do
  if [ -e "$dev/idVendor" ]; then
    vid=$(cat "$dev/idVendor")
    if [ "$vid" == "${VID}" ]; then
      port=$(basename $dev)
      product=$(cat "$dev/product" 2>/dev/null) # 產(chǎn)品名稱
      serial=$(cat "$dev/serial" 2>/dev/null) # 序列號(hào)
      echo "發(fā)現(xiàn)Orbbec設(shè)備 $product，usb端口 $port，序列號(hào) $serial"
    fi
  fi
done

將此腳本保存為一個(gè)文件，并在您的終端中執(zhí)行，以輸出連接的攝像頭列表。

啟動(dòng)多個(gè)攝像頭

多攝像頭啟動(dòng)配置

您可以通過(guò)為每個(gè)攝像頭指定不同的USB端口來(lái)啟動(dòng)多個(gè)攝像頭。下面是一個(gè)使用ROS 2啟動(dòng)系統(tǒng)啟動(dòng)兩個(gè)攝像頭的Python腳本示例。

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

def generate_launch_description():
    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, 'gemini_330_series.launch.py')),
        launch_arguments={'camera_name': 'camera_01', 'usb_port': '2-3.4.4.4.1', 'device_num': '2', 'sync_mode': 'free_run'}.items()
    )

    launch2_include = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(os.path.join(launch_file_dir, 'gemini_330_series.launch.py')),
        launch_arguments={'camera_name': 'camera_02', 'usb_port': '2-3.4.4.4.3', 'device_num': '2', 'sync_mode': 'free_run'}.items()
    )

    ld = LaunchDescription([
        GroupAction([launch1_include]),
        GroupAction([launch2_include])
    ])

    return ld

運(yùn)行啟動(dòng)文件

要執(zhí)行多攝像頭的啟動(dòng)配置，請(qǐng)使用命令：

ros2 launch orbbec_camera multi_camera.launch.py

配置多攝像頭的TF樹

兩個(gè)攝像頭的TF配置示例

使用多個(gè)攝像頭時(shí)，校準(zhǔn)它們并為每個(gè)攝像頭發(fā)布靜態(tài)TF樹是必不可少的。以下Python腳本基于您的校準(zhǔn)結(jié)果配置TF樹：

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    ld = LaunchDescription([
        Node(
            package='tf2_ros',
            executable='static_transform_publisher',
            name='camera_01_tf',
            arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'camera_01_link'],
            output='screen'
        ),
        Node(
            package='tf2_ros',
            executable='static_transform_publisher',
            name='camera_02_tf',
            arguments=['0', '0', '0', '0', '0', '0', 'base_link', 'camera_02_link'],
            output='screen'
        )
    ])

    return ld

將此配置保存為  在Orbbec攝像頭包的啟動(dòng)目錄中。運(yùn)行它，請(qǐng)使用：

ros2 launch orbbec_camera multi_camera_tf.launch.py