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rs_multiple_devices.launch
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rs_multiple_devices.launch
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<launch>
<arg name="serial_no_camera1" default=""/> <!-- Note: Replace with actual serial number -->
<arg name="serial_no_camera2" default=""/> <!-- Note: Replace with actual serial number -->
<arg name="serial_no_camera3" default=""/> <!-- Note: Replace with actual serial number -->
<arg name="camera1" default="camera1"/> <!-- Note: Replace with camera name -->
<arg name="camera2" default="camera2"/> <!-- Note: Replace with camera name -->
<arg name="camera3" default="camera3"/> <!-- Note: Replace with camera name -->
<arg name="tf_prefix_camera1" default="$(arg camera1)"/>
<arg name="tf_prefix_camera2" default="$(arg camera2)"/>
<arg name="tf_prefix_camera3" default="$(arg camera3)"/>
<arg name="initial_reset" default="false"/>
<group ns="$(arg camera1)">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="serial_no" value="$(arg serial_no_camera1)"/>
<arg name="tf_prefix" value="$(arg tf_prefix_camera1)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
</include>
</group>
<group ns="$(arg camera2)">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="serial_no" value="$(arg serial_no_camera2)"/>
<arg name="tf_prefix" value="$(arg tf_prefix_camera2)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
</include>
</group>
<group ns="$(arg camera3)" if="$(eval serial_no_camera3 != '')">
<include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml">
<arg name="serial_no" value="$(arg serial_no_camera3)"/>
<arg name="tf_prefix" value="$(arg tf_prefix_camera3)"/>
<arg name="initial_reset" value="$(arg initial_reset)"/>
</include>
</group>
</launch>