feat(camera): discover and publish multiple capture devices

README.md

@@ -9,14 +9,14 @@ The template folder remains `[lms-nav2-camera-test]nav2-camera-test_v1.0.0_ws`.
 - Package: `camera_test_pkg`
 - Launch: `camera.launch.py`
 - Viewer topic: `/camera_test/image_jpeg` (`sensor_msgs/msg/CompressedImage`, sensor-data QoS)
-- Only the selected `/dev/videoN` device is passed into the container.
+- Only selected capture devices are passed into the container, never the whole `/dev` directory.
 - No vehicle commands, fabricated calibration, or fixed camera mounting TF are published.
 
 ## Parameters
 
 | Parameter | Default | Meaning |
 | --- | --- | --- |
-| `video_device` | `/dev/video0` | V4L2 camera device |
+| `video_device` | `/dev/video0` | One V4L2 device, or `/dev` to discover up to eight capture endpoints |
 | `width` / `height` | `640` / `480` | Capture resolution supported by the camera |
 | `fps` | `30` | Capture frame rate |
 | `publish_fps` | `10` | Maximum publication rate |
@@ -25,11 +25,45 @@ The template folder remains `[lms-nav2-camera-test]nav2-camera-test_v1.0.0_ws`.
 | `jpeg_topic` | `/camera_test/image_jpeg` | Keep the default for the LMS viewer |
 | `frame_id` | `camera_test_link` | Image frame identifier |
 | `publish_raw` | `false` | Also publish `/camera_test/image_raw` |
+| `raw_topic` | `/camera_test/image_raw` | Raw topic for single-camera operation |
 
 `auto` negotiates raw/JPEG encoding, not resolution or frame rate. Use a mode
 reported by `v4l2-ctl --device /dev/video0 --list-formats-ext` when defaults are unsupported.
 This module provides a video preview, not calibrated visual SLAM input.
 
+## Multiple Cameras
+
+Set `video_device:=/dev` to inspect `/dev/video*` when the module starts.
+Capture-capable nodes are selected using V4L2 device capabilities; metadata-only,
+codec, non-character and inaccessible nodes are skipped. Device numbers are not
+physical-camera counts: a device can expose multiple usable capture streams.
+Discovery does not start streams on the host. Only the selected device nodes
+and Jetson VI channels are passed to Docker.
+
+Each endpoint has its own process and topics, for example
+`/camera_test/cameras/video0/image_jpeg` and
+`/camera_test/cameras/video2/image_jpeg`. Raw topics and frame IDs are also unique.
+In automatic mode these per-device names replace `jpeg_topic`, `raw_topic` and
+`frame_id`. Single-device operation retains the original names and overrides.
+The updated LMS viewer displays only endpoints actually publishing JPEG frames,
+with device labels and scrolling when needed. A failed camera does not stop
+other camera processes. Restart the module after adding, removing or reconnecting
+a camera so device discovery and failed capture processes are refreshed.
+
+Update and rebuild this module on Jetson before using automatic discovery.
+Old ARM64 prebuilt build/install archives must be regenerated before publishing.
+The runtime image is unchanged. Update the LMS FE as well; the remote viewer
+bridge receives the bundled bridge source on visualization startup.
+
+```sh
+./build.sh
+ROS_DOMAIN_ID=77 ./run.sh video_device:=/dev publish_fps:=5
+```
+
+All selected cameras use the same resolution, capture FPS and pixel format.
+Choose a mode supported by every camera, and reduce FPS/resolution if USB
+bandwidth, encoding CPU usage or remote network traffic becomes excessive.
+
 ## LMS Installation
 
 The environment profile supplies the runtime image artifact; the module supplies