Multi head launch file configuration

It is possible to stream data from multiple imagers and camera heads (i.e. ports): while connecting both 2D and 3D data from your camera with your VPU or even with multiple cameras connected to one VPU.

This can be achieved by altering your launch configuration yaml file and setting the camera-specific parameters, namely pcic-port and buff_id_lists, correctly. There are examples provided doing exactly that.

o3r_2d.yaml

This example configuration connects to the 2D (RGB) data stream of one O3R camera head connected to port 0:

The Ports on the VPU should be connected as follows:

  • Camera 2D: physical port 0 - corresponds to pcic_port=50010

To launch this example, use the following command:

ros2 launch ifm3d_ros2 camera.launch.py parameter_file_name:=o3r_2d.yaml

o3r_3d.yaml

This example configuration connects to the 3D (TOF) data stream of one O3R camera head connected to port 2:

The Ports on the VPU should be connected as follows:

  • Camera 3D: physical port 2 - corresponds to pcic_port=50012

To launch this example, use the following command:

ros2 launch ifm3d_ros2 camera.launch.py parameter_file_name:=o3r_3d.yaml

o3r_3d.yaml

This example configuration connects to two 3D (TOF) data stream AND two 2D (RGB) data stream of two O3R camera head connected to ports 0 - 3:

The Ports on the VPU should be connected as follows: Camera head 1:

  • Camera 2D: physical port 0 - corresponds to pcic_port=50010

  • Camera 3D: physical port 2 - corresponds to pcic_port=50012

Camera head 2:

  • Camera 2D: physical port 1 - corresponds to pcic_port=50011

  • Camera 3D: physical port 3 - corresponds to pcic_port=50013

To launch this example, use the following command:

ros2 launch ifm3d_ros2 two_o3r_heads.launch.py parameter_file_name:=two_o3r_heads.yaml

Adapting the camera configuration to your needs

The example configurations are provided in the directory config/examples. They can act as inspiration when configuring your own multi-camera setup.

Please edit / add your own specific hardware and software configuration via these configuration yml files. For a specific number of ros node camera streams other than 1 or 4 (see examples) please create a updated launch helper yourself.