Add primary secondary example file

spinnaker_camera_driver/doc/index.rst

@@ -184,6 +184,20 @@ that you can customize as needed.
    ros2 launch spinnaker_camera_driver driver_node.launch.py camera_type:=blackfly_s serial:="'20435008'"
 
 
+Using multiple cameras at the same time
+=======================================
+
+The FLIR Spinnaker does not support two programs accessing the Spinnaker SDK at the same time,
+even if two different cameras are accessed. Strange things happen, in particular with USB3 cameras.
+You can however run multiple cameras in the same
+address space using ROS2's Composable Node concept, see the example
+launch file ``multiple_cameras.launch.py``.
+
+If you are using hardware synchronized cameras please use the ``spinnaker_synchronized_camera_driver``,
+which will associate the images triggered by the same sync pulse with each other
+and give them identical time stamps.
+
+
 About time stamps
 =================
 

spinnaker_camera_driver/launch/multiple_cameras.launch.py

@@ -0,0 +1,131 @@
+# -----------------------------------------------------------------------------
+# Copyright 2022 Bernd Pfrommer <[email protected]>
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument as LaunchArg
+from launch.actions import OpaqueFunction
+from launch.substitutions import LaunchConfiguration as LaunchConfig
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
+
+camera_params = {
+    'debug': False,
+    'compute_brightness': True,
+    'dump_node_map': False,
+    'adjust_timestamp': True,
+    'gain_auto': 'Off',
+    'gain': 0,
+    'exposure_auto': 'Off',
+    'exposure_time': 9000,
+    'line2_selector': 'Line2',
+    'line2_v33enable': False,
+    'line3_selector': 'Line3',
+    'line3_linemode': 'Input',
+    'trigger_selector': 'FrameStart',
+    'trigger_mode': 'On',
+    'trigger_source': 'Line3',
+    'trigger_delay': 9,
+    'trigger_overlap': 'ReadOut',
+    'chunk_mode_active': True,
+    'chunk_selector_frame_id': 'FrameID',
+    'chunk_enable_frame_id': True,
+    'chunk_selector_exposure_time': 'ExposureTime',
+    'chunk_enable_exposure_time': True,
+    'chunk_selector_gain': 'Gain',
+    'chunk_enable_gain': True,
+    'chunk_selector_timestamp': 'Timestamp',
+    'chunk_enable_timestamp': True,
+}
+
+
+def make_camera_node(name, camera_type, serial):
+    parameter_file = PathJoinSubstitution(
+        [FindPackageShare('spinnaker_camera_driver'), 'config', camera_type + '.yaml']
+    )
+
+    node = ComposableNode(
+        package='spinnaker_camera_driver',
+        plugin='spinnaker_camera_driver::CameraDriver',
+        name=name,
+        parameters=[camera_params, {'parameter_file': parameter_file, 'serial_number': serial}],
+        remappings=[
+            ('~/control', '/exposure_control/control'),
+        ],
+        extra_arguments=[{'use_intra_process_comms': True}],
+    )
+    return node
+
+
+def launch_setup(context, *args, **kwargs):
+    """Create multiple camera."""
+    container = ComposableNodeContainer(
+        name='stereo_camera_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            #
+            # These two camera nodes run independently from each other,
+            # but in the same address space
+            #
+            make_camera_node(
+                LaunchConfig('cam_0_name'),
+                LaunchConfig('cam_0_type').perform(context),
+                LaunchConfig('cam_0_serial'),
+            ),
+            make_camera_node(
+                LaunchConfig('cam_1_name'),
+                LaunchConfig('cam_1_type').perform(context),
+                LaunchConfig('cam_1_serial'),
+            ),
+        ],
+        output='screen',
+    )  # end of container
+    return [container]
+
+
+def generate_launch_description():
+    """Create composable node by calling opaque function."""
+    return LaunchDescription(
+        [
+            LaunchArg(
+                'cam_0_name',
+                default_value=['cam_0'],
+                description='camera name (ros node name) of camera 0',
+            ),
+            LaunchArg(
+                'cam_1_name',
+                default_value=['cam_1'],
+                description='camera name (ros node name) of camera 1',
+            ),
+            LaunchArg('cam_0_type', default_value='blackfly_s', description='type of camera 0'),
+            LaunchArg('cam_1_type', default_value='blackfly_s', description='type of camera 1'),
+            LaunchArg(
+                'cam_0_serial',
+                default_value="'20435008'",
+                description='FLIR serial number of camera 0 (in quotes!!)',
+            ),
+            LaunchArg(
+                'cam_1_serial',
+                default_value="'20415937'",
+                description='FLIR serial number of camera 1 (in quotes!!)',
+            ),
+            OpaqueFunction(function=launch_setup),
+        ]
+    )

spinnaker_synchronized_camera_driver/doc/index.rst

@@ -119,7 +119,7 @@ Exposure controller parameters
 Example usage
 -------------
 
-The driver comes with two example launch files that need to be modified for your purposes (update serial numbers etc).
+The driver comes with several example launch files that need to be modified for your purposes (update serial numbers etc).
 The ``follower_example.launch.py`` can be used as template for stereo cameras, the ``master_example.launch.py`` for situations
 where each camera should run their own exposure control.
 
@@ -133,6 +133,10 @@ Carefully examine the camera parameters that are set in the launch file, in part
 - ``exposure_auto`` must be off (disable the individual camera controller).
 - ``chunk_mode_active`` must be true, and chunk exposure time, gain and frame id must be enabled
 
+For the special case where one camera (primary) triggers the sync pulse of a secondary camera, see
+the example launch file ``primary_secondary.launch.py``. If you don't use Blackfly S cameras you will have
+to adjust the digital I/O parameters.
+
 
 Known issues
 ============