camera_ws/src/ros_astra_camera/launch/multi_camera.launch

<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>