How to launch mulitple mono cameras with Isaac Ros Argus Camera?

[gwaibel]

Hi,

Is there an example config file on how to launch multiple mono cameras with isaac ros argus camera. I followed this guide. I want to start 4-6 cameras, all in mono mode, not stereo. However, I only manage to start one camera. Also, when changing parameters in the config file the changes are not reflected when launching the node.

I would be nice if someone has an example config file with at least 2 cameras in mono mode.
Thanks,

[Raffaello]

Hi @gwaibel

The best way is to make your new ROS 2 launch file with a setup for both cameras.
An example of running two mono cameras can be seen in the file below

import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    argus_mono_first_node = ComposableNode(
        name='argus_mono_first',
        package='isaac_ros_argus_camera',
        plugin='nvidia::isaac_ros::argus::ArgusMonoNode',
        remappings=[('left/image_raw', 'first/image_raw'), ('left/camera_info', 'first/camera_info')],
        parameters=[{
            'camera_id': 0,
        }]
    )
    
    argus_mono_second_node = ComposableNode(
        name='argus_mono_second',
        package='isaac_ros_argus_camera',
        plugin='nvidia::isaac_ros::argus::ArgusMonoNode',
        remappings=[('left/image_raw', 'second/image_raw'), ('left/camera_info', 'second/camera_info')],
        parameters=[{
            'camera_id': 1,
        }]
    )
    
    argus_mono_container = ComposableNodeContainer(
        name='argus_mono_container',
        package='rclcpp_components',
        executable='component_container_mt',
        composable_node_descriptions=[argus_mono_first_node, argus_mono_second_node],
        namespace='',
        output='screen',
        arguments=['--ros-args', '--log-level', 'info'],
    )
    return launch.LaunchDescription([argus_mono_container])

[gwaibel]

Thanks that works!