File size: 1,747 Bytes
db6da93 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 | <launch>
<!-- unique camera name-->
<arg name="camera_name" default="camera"/>
<arg name="3d_sensor" default="dabai"/>
<arg name="device_num" default="3"/>
<!-- 相机topic前缀 -->
<arg name="camera1_prefix" default="r"/>
<arg name="camera2_prefix" default="l"/>
<arg name="camera3_prefix" default="f"/>
<!-- 相机序列号 -->
<arg name="camera1_serila_number" default="CC15C4300E9"/>
<arg name="camera2_serila_number" default="CC15C43004R"/>
<arg name="camera3_serila_number" default="CC15C4300F9"/>
<!-- <arg name="camera1_serila_number" default="$(env camera00_serial_num)"/>
<arg name="camera2_serila_number" default="$(env camera01_serial_num)"/>
<arg name="camera3_serila_number" default="$(env camera02_serial_num)"/> -->
<include file="$(find astra_camera)/launch/$(arg 3d_sensor).launch">
<arg name="camera_name" value="$(arg camera_name)_$(arg camera1_prefix)"/>
<arg name="serial_number" value="$(arg camera1_serila_number)"/>
<arg name="device_num" value="$(arg device_num)"/>
</include>
<include file="$(find astra_camera)/launch/$(arg 3d_sensor).launch">
<arg name="camera_name" value="$(arg camera_name)_$(arg camera2_prefix)"/>
<arg name="serial_number" value="$(arg camera2_serila_number)"/>
<arg name="device_num" value="$(arg device_num)"/>
</include>
<include file="$(find astra_camera)/launch/$(arg 3d_sensor).launch">
<arg name="camera_name" value="$(arg camera_name)_$(arg camera3_prefix)"/>
<arg name="serial_number" value="$(arg camera3_serila_number)"/>
<arg name="device_num" value="$(arg device_num)"/>
</include>
</launch>
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