Synchronisation

[Withey958]

I am looking to run 3 Astra 2 cameras at the same time synchronised, using the sync hub dev, daisy chain. I am looking for some advise regarding the launch file.

I am basing the launch off multi_camera_synced.launch.py and updating the launch parameters eg:

    front_camera = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(launch_file_dir, 'astra2.launch.py')
        ),
        launch_arguments={
            'camera_name': 'front_camera',
            'usb_port': '2-1',
            'device_num': '3',
            'sync_mode': 'software_triggering',
            'config_file_path': config_file_path,
        }.items()
    )

For sync_mode which is the correct selection for my setup? Also within launch parameters if I wish to change the depth_width and depth_height should I be adding to this file or editing the default values in astra2.launch.py.

[jian-dong]

Hi @Withey958,

For the sync_mode setting, please refer to this document: Set Up Cameras for External Synchronization. The appropriate setting may vary depending on the specific application scenario.

Regarding depth_width and depth_height, the parameters in the camera_params.yaml file will override the ones in the astra2.launch.py.

[Withey958]

Sorry I have been away for a while can I confirm in this instance I would be using:

'sync_mode': 'primary'
'sync_mode': 'secondary_synced'

I found the list of details for the astra 2:

But I can't find the input string options for 'sync_mode' in the ROS2 library, is this case sensitive?

[Withey958]

I am also getting a bit confused by the documentation. Should I be running the transform as described here?

https://github.com/orbbec/OrbbecSDK_ROS2/blob/main/docs/multi_camera.MD

Do I then also have to use these transforms to synchronize the time stamps?

Finally when I query the depth precision parameter I get no string back, is it possible to change the depth precision on the Astra 2 using the ROS2 wrapper?