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OrbbecSDK V2 ROS2 Wrapper
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< li class = "toctree-l1" >< a class = "reference internal" href = "../1_overview/overview.html" > 1. Overview</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../1_overview/introduction.html" > 1.1. Introduction</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#support-hardware-products" > 1.1.1. Support Hardware Products</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#orbbec-camera-datasheet" > 1.1.2. Orbbec camera datasheet</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#support-platforms" > 1.1.3. Support Platforms</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html" > 1.2. Orbbec SDK Overview</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#terms" > 1.2.1. Terms</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview" > 1.2.2. Orbbec SDK v2 Architecture Overview</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#sdk-concept-overview" > 1.2.3. SDK Concept Overview</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#sdk-programming-model" > 1.2.4. SDK Programming Model</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../2_installation/installation.html" > 2. Installation</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../2_installation/build_the_package.html" > 2.1. Build from Source</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#environment" > 2.1.1. Environment</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#linux-ros2-wrapper-compilation" > 2.1.2. Linux ROS2 Wrapper Compilation</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../2_installation/registration_script.html" > 2.2. Registration script (required)</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../3_quickstarts/quickstarts.html" > 3. Quickstarts</ a >< ul >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html" > 3.1. ROS Package QuickStarts</ a >< ul >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#introduction" > 3.1.1. Introduction</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#build-your-first-camera-application" > 3.1.2. Build your First Camera Application</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace" > 3.1.2.1. Step 1: Source ROS 2 and Workspace</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#step-2-launch-the-camera-node" > 3.1.2.2. Step 2: Launch the Camera Node</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2" > 3.1.2.3. Step 3: Visualize in RViz2</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#sample-features" > 3.1.3. Sample Features</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#list-available-topics-services-parameters" > 3.1.3.1. List available topics / services/ parameters</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#echo-a-topic" > 3.1.3.2. Echo a topic</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#call-a-service" > 3.1.3.3. Call a service</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#record-with-rosbag2" > 3.1.3.4. Record with rosbag2</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html" > 3.2. OrbbecViewer QuickStarts</ a >< ul >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#download" > 3.2.1. Download</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#connect-the-device" > 3.2.2. Connect the device</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#camera-control" > 3.2.3. Camera Control</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade" > 3.2.4. Device information and firmware upgrade</ a ></ li >
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< li class = "toctree-l1 current" >< a class = "reference internal" href = "application_guide.html" > 4. Application Guide</ a >< ul class = "current" >
< li class = "toctree-l2" >< a class = "reference internal" href = "launch_parameters.html" > 4.1. Launch parameters</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#core-stream-configuration" > 4.1.1. Core & Stream Configuration</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#sensor-controls" > 4.1.2. Sensor Controls</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#color-stream" > 4.1.2.1. Color Stream</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#depth-stream" > 4.1.2.2. Depth Stream</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#ir-stream" > 4.1.2.3. IR Stream</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#laser-ldp" > 4.1.2.4. Laser / LDP</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#device-sync-advanced-features" > 4.1.3. Device, Sync & Advanced Features</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#multi-camera-synchronization" > 4.1.3.1. Multi-Camera Synchronization</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#network-cameras" > 4.1.3.2. Network Cameras</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#device-specific" > 4.1.3.3. Device-Specific</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#disparity" > 4.1.3.4. Disparity</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#interleave-ae-mode" > 4.1.3.5. Interleave AE Mode</ a ></ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#intra-camera-synchronization" > 4.1.3.6. Intra-Camera Synchronization</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#basic-general-parameters" > 4.1.4. Basic & General Parameters</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#firmware-backend" > 4.1.4.1. Firmware & Backend</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#tf-extrinsics-calibration" > 4.1.4.2. TF, Extrinsics & Calibration</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#time-synchronization" > 4.1.4.3. Time Synchronization</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#logging-diagnostics" > 4.1.4.4. Logging & Diagnostics</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#miscellaneous" > 4.1.4.5. Miscellaneous</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#imu" > 4.1.5. IMU</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#depth-filters" > 4.1.6. Depth Filters</ a ></ li >
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< li class = "toctree-l2 current" >< a class = "current reference internal" href = "#" > 4.2. All available services for camera control</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "#stream-control" > 4.2.1. Stream Control</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "#color-stream" > 4.2.1.1. Color Stream</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#depth-stream" > 4.2.1.2. Depth Stream</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#ir-stream" > 4.2.1.3. IR Stream</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#all-streams" > 4.2.1.4. All Streams</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "#sensor-emitter-control" > 4.2.2. Sensor & Emitter Control</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#device-information-management" > 4.2.3. Device Information & Management</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#synchronization-triggering" > 4.2.4. Synchronization & Triggering</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#depth-filter-configuration" > 4.2.5. Depth Filter Configuration</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#data-capture-calibration-management" > 4.2.6. Data Capture & Calibration Management</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "topics.html" > 4.3. Available Topics</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "topics.html#image-streams" > 4.3.1. Image Streams</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "topics.html#point-cloud-topics" > 4.3.2. Point Cloud Topics</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "topics.html#imu-topics" > 4.3.3. IMU Topics</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "topics.html#device-status-diagnostics" > 4.3.4. Device Status & Diagnostics</ a ></ li >
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</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "coordinate_systems.html" > 4.4. ROS2 Robot vs Camera Optical Coordination Systems</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "camera_sensor_structure.html" > 4.5. Camera sensor structure</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "tf_transformations.html" > 4.6. TF from coordinate A to coordinate B:</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "compressed_image.html" > 4.7. Compressed Image</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "point_cloud.html" > 4.8. Enabling and Visualizing Point Cloud in ROS 2</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "point_cloud.html#enabling-depth-point-cloud" > 4.8.1. Enabling Depth Point Cloud</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "point_cloud.html#command-to-enable-depth-point-cloud" > 4.8.1.1. Command to Enable Depth Point Cloud</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "point_cloud.html#visualizing-depth-point-cloud-in-rviz2" > 4.8.1.2. Visualizing Depth Point Cloud in RViz2</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "point_cloud.html#enabling-colored-point-cloud" > 4.8.2. Enabling Colored Point Cloud</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "point_cloud.html#command-to-enable-colored-point-cloud" > 4.8.2.1. Command to Enable Colored Point Cloud</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "point_cloud.html#visualizing-colored-point-cloud-in-rviz2" > 4.8.2.2. Visualizing Colored Point Cloud in RViz2</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html" > 5. Advanced Guide</ a >< ul >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#performance-optimization" > 5.1. Performance & Optimization</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html" > 5.1.1. Reducing CPU Usage with Orbbec ROS Package</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage" > 5.1.1.1. Recommended Settings for Lower CPU Usage</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing" > 5.1.1.2. Launch Files Used for Testing</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#test-environment" > 5.1.1.3. Test environment</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#test-setup" > 5.1.1.4. Test Setup</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#test-results" > 5.1.1.5. Test Results</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa" > 5.1.1.6. Further Optimizationa</ a ></ li >
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</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html" > 5.1.2. Efficient intra-process communication:</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction" > 5.1.2.1. Introduction</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html#example" > 5.1.2.2. Example</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html" > 5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters" > 5.1.3.1. Adjusting System Parameters</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration" > 5.1.3.2. Fast DDS Configuration</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#multi-camera" > 5.2. Multi-Camera</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html" > 5.2.1. Multi-Camera</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras" > 5.2.1.1. No Data Stream from Multiple Cameras</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras" > 5.2.1.2. Image topic frame rate too low from Multiple Cameras</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html" > 5.2.2. Multi_camera synced Instructions</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions" > 5.2.2.1. Setup instructions</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2" > 5.2.2.2. Checking camera port with OrbbecSDK_ROS2</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration" > 5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced" > 5.2.2.4. Run the following command to start the multi-camera synced</ a ></ li >
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</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html" > 5.2.3. Multi_camera_synced_verification_tool</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure" > 5.2.3.1. Directory Structure</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation" > 5.2.3.2. Preparation for operation</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example" > 5.2.3.3. Run this example</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed" > 5.2.3.4. Files that need to be changed</ a ></ li >
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</ ul >
</ li >
2025-09-26 06:11:30 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html" > 5.2.4. GMSL_camera</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera" > 5.2.4.1. Single GMSL camera</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera" > 5.2.4.2. Multi GMSL camera</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced" > 5.2.4.3. Multi GMSL camera synced</ a ></ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras" > 5.2.4.4. Usage Limitations of GMSL Cameras</ a ></ li >
2025-09-26 06:11:30 +00:00
</ ul >
</ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#configuration-modes" > 5.3. Configuration & Modes</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html" > 5.3.1. Aligning Depth to Color in ROS 2</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images" > 5.3.1.1. Commands to Align and View Depth and Color Images</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2" > 5.3.1.2. Selecting Topics in RViz2</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay" > 5.3.1.3. Example of Depth to Color Overlay</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html" > 5.3.2. Configuration of depth NFOV and WFOV modes</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/depth_work_mode_switch.html" > 5.3.3. Depth work mode switch</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html" > 5.3.4. Disparity_search_offset</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction" > 5.3.4.1. Function Introduction</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction" > 5.3.4.2. Parameter Introduction</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch" > 5.3.4.3. Run the launch</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html" > 5.3.5. Using interleave_ae with Gemini330 series cameras</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction" > 5.3.5.1. Parameter Introduction</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch" > 5.3.5.2. Run the launch</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae" > 5.3.5.3. Multi_camera_synced + Interleave_ae</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html" > 5.3.6. Predefined presets</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html" > 5.3.7. Net_camera</ a >< ul >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le" > 5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility" > 5.3.7.2. set_device_ip Utility</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#force-ip-function" > 5.3.7.3. Force IP Function</ a ></ li >
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2025-09-25 13:04:20 +00:00
< li class = "toctree-l1" >< a class = "reference internal" href = "../6_benchmark/benchmark.html" > 6. Benchmark</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/introduction.html" > 6.1. Introduction</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/introduction.html#common-benchmark-node" > 6.1.1. common benchmark node</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/introduction.html#service-benchmark-node" > 6.1.2. service benchmark node</ a ></ li >
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</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html" > 6.2. Benchmark Usage</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#using-common-benchmark-node" > 6.2.1. Using common benchmark node</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#using-service-benchmark-node" > 6.2.2. Using service benchmark node</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#ros2-c" > 6.2.2.1. ROS2 C++</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#ros2-python" > 6.2.2.2. ROS2 Python</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#example-yaml-configuration" > 6.2.2.3. < strong > Example YAML configuration</ strong ></ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html" > 6.3. Benchmark Data</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html#common-benckmark-data" > 6.3.1. Common Benckmark Data</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html#service-benchmark-data" > 6.3.2. Service Benchmark Data</ a ></ li >
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2025-09-26 06:11:30 +00:00
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/othertools.html" > 6.4. Other Tools</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/othertools.html#ob-benchmark-tool" > 6.4.1. Ob_benchmark tool</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json" > 6.4.1.1. Tool Configuration (start_benchmark_params.json)</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#camera-configuration-launch-files" > 6.4.1.2. Camera configuration (launch files)</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#running-the-ob-benchmark-tool" > 6.4.1.3. Running the ob_benchmark tool</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#output-data-files" > 6.4.1.4. Output Data Files</ a ></ li >
2025-09-25 13:04:20 +00:00
</ ul >
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</ li >
< li class = "toctree-l1" >< a class = "reference internal" href = "../7_developer_guide/developer_guide.html" > 7. Developer Guide</ a >< ul >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html" > 7.1. Migrating from main to Open-Source v2-main</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#introduction" > 7.1.1. < strong > Introduction</ strong ></ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main" > 7.1.2. < strong > Advantages of Migrating from main to v2-main</ strong ></ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#comprehensive-device-support" > 7.1.2.1. < strong > Comprehensive Device Support</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#transparency-and-extensibility" > 7.1.2.2. < strong > Transparency and Extensibility</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates" > 7.1.2.3. Advantages in Maintenance and Updates</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#community-and-ecosystem-support" > 7.1.2.4. < strong > Community and Ecosystem Support</ strong ></ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches" > 7.1.3. Comparison Between main and v2-main Branches</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#launch-file-differences" > 7.1.3.1. < strong > Launch File Differences</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#parameter-differences" > 7.1.3.2. < strong > Parameter Differences</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#topic-differences" > 7.1.3.3. < strong > Topic Differences</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#service-differences" > 7.1.3.4. < strong > Service Differences</ strong ></ a ></ li >
</ ul >
</ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html" > 7.2. Building a Debian Package</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment" > 7.2.1. Preparing the Environment</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies" > 7.2.2. Configuring ROS Dependencies</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#building-the-package" > 7.2.3. Building the Package</ a ></ li >
2025-09-25 13:04:20 +00:00
</ ul >
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</ ul >
</ li >
< li class = "toctree-l1" >< a class = "reference internal" href = "../8_FAQ/FAQ.html" > 8. Frequently Asked Questions</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#unexpected-crash" > 8.1. Unexpected Crash</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras" > 8.2. No Data Stream from Multiple Cameras</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#additional-troubleshooting" > 8.3. Additional Troubleshooting</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#why-are-there-so-many-launch-files" > 8.4. Why Are There So Many Launch Files?</ a ></ li >
2025-09-15 06:27:21 +00:00
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< li class = "breadcrumb-item active" >< span class = "section-number" > 4.2. </ span > All available services for camera control</ li >
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2025-10-22 03:11:03 +00:00
< div class = "lang-switch" style = "margin:0 0 1em 0; font-size:0.9em;" >< a class = "lang-other" href = "#" > 中文</ a > | < a class = "lang-current" href = "#" > English</ a ></ div >< script >( function (){ var p = window . location . pathname ; var isEn = p . indexOf ( '/en/' ) !==- 1 && p . indexOf ( '/zh/' ) ===- 1 ; if ( p . indexOf ( '/zh/' ) !==- 1 ) isEn = false ; var other = isEn ? p . replace ( /\/en\// , '/zh/' ) : p . replace ( /\/zh\// , '/en/' ); var current = p ; var sw = document . querySelector ( '.lang-switch' ); if ( ! sw ) return ; var o = sw . querySelector ( '.lang-other' ); var c = sw . querySelector ( '.lang-current' ); if ( isEn ){ o . textContent = '中文' ; c . textContent = 'English' ; } else { o . textContent = 'English' ; c . textContent = '中文' ; } o . setAttribute ( 'href' , other ); c . setAttribute ( 'href' , current );})();</ script >< section id = "all-available-services-for-camera-control" >
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< h1 >< span class = "section-number" > 4.2. </ span > All available services for camera control< a class = "headerlink" href = "#all-available-services-for-camera-control" title = "Link to this heading" > </ a ></ h1 >
< blockquote >
< div >< p >< strong > Note:</ strong > Services related to a specific stream (e.g., < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_*</ span ></ code > ) are only available if that stream is enabled in the launch file (e.g., < code class = "docutils literal notranslate" >< span class = "pre" > enable_color:=true</ span ></ code > ).</ p >
</ div ></ blockquote >
< section id = "stream-control" >
< h2 >< span class = "section-number" > 4.2.1. </ span > Stream Control< a class = "headerlink" href = "#stream-control" title = "Link to this heading" > </ a ></ h2 >
< section id = "color-stream" >
< h3 >< span class = "section-number" > 4.2.1.1. </ span > Color Stream< a class = "headerlink" href = "#color-stream" title = "Link to this heading" > </ a ></ h3 >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/toggle_color</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/toggle_color< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_color_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_color_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_color_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_color_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_auto_exposure</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_auto_exposure< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 1}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 64}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_mirror</ span ></ code > , < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_flip</ span ></ code > , < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_rotation</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_mirror< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_flip< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_rotation< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 180}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_ae_roi</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # data_param: [Left, Right, Top, Bottom]</ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_ae_roi< span class = "w" > </ span > orbbec_camera_msgs/srv/SetArrays< span class = "w" > </ span >< span class = "s1" > ' {data_param: [0,1279,0,719]}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
< section id = "depth-stream" >
< h3 >< span class = "section-number" > 4.2.1.2. </ span > Depth Stream< a class = "headerlink" href = "#depth-stream" title = "Link to this heading" > </ a ></ h3 >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/toggle_depth</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/toggle_depth< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_depth_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_depth_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_depth_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_depth_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_auto_exposure</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_auto_exposure< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 3000}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 64}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_mirror</ span ></ code > , < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_flip</ span ></ code > , < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_rotation</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_mirror< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_flip< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_rotation< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 180}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_ae_roi</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # data_param: [Left, Right, Top, Bottom]</ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_ae_roi< span class = "w" > </ span > orbbec_camera_msgs/srv/SetArrays< span class = "w" > </ span >< span class = "s1" > ' {data_param: [0,847,0,479]}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
< section id = "ir-stream" >
< h3 >< span class = "section-number" > 4.2.1.3. </ span > IR Stream< a class = "headerlink" href = "#ir-stream" title = "Link to this heading" > </ a ></ h3 >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/toggle_ir</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/toggle_ir< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_ir_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_ir_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_ir_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_ir_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_ir_auto_exposure</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_ir_auto_exposure< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_ir_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_ir_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_ir_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 3000}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_ir_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 64}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/switch_ir</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/switch_ir< span class = "w" > </ span > orbbec_camera_msgs/srv/SetString< span class = "w" > </ span >< span class = "s1" > ' {data: left}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
< section id = "all-streams" >
< h3 >< span class = "section-number" > 4.2.1.4. </ span > All Streams< a class = "headerlink" href = "#all-streams" title = "Link to this heading" > </ a ></ h3 >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_streams_enable</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_streams_enable</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_streams_enable< span class = "w" > </ span > orbbec_camera_msgs/srv/GetBool< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_streams_enable< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: false}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
</ section >
< section id = "sensor-emitter-control" >
< h2 >< span class = "section-number" > 4.2.2. </ span > Sensor & Emitter Control< a class = "headerlink" href = "#sensor-emitter-control" title = "Link to this heading" > </ a ></ h2 >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_auto_white_balance</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_auto_white_balance</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_auto_white_balance< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_auto_white_balance< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_white_balance</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_white_balance</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_white_balance< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 2800}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_white_balance< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_laser_enable</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_laser_enable< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_ldp_enable</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_ldp_status</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_ldp_enable< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_ldp_status< span class = "w" > </ span > orbbec_camera_msgs/srv/GetBool< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_fan_work_mode</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_fan_work_mode< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 0}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_floor_enable</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_floor_enable< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
< section id = "device-information-management" >
< h2 >< span class = "section-number" > 4.2.3. </ span > Device Information & Management< a class = "headerlink" href = "#device-information-management" title = "Link to this heading" > </ a ></ h2 >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_device_info</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_device_info< span class = "w" > </ span > orbbec_camera_msgs/srv/GetDeviceInfo
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_sdk_version</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_sdk_version< span class = "w" > </ span > orbbec_camera_msgs/srv/GetString
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/reboot_device</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/reboot_device< span class = "w" > </ span > std_srvs/srv/Empty< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
< section id = "synchronization-triggering" >
< h2 >< span class = "section-number" > 4.2.4. </ span > Synchronization & Triggering< a class = "headerlink" href = "#synchronization-triggering" title = "Link to this heading" > </ a ></ h2 >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/send_software_trigger</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/send_software_trigger< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
< span class = "sb" > ```</ span > *< span class = "w" > </ span >< span class = "sb" > `</ span > /camera/set_reset_timestamp< span class = "sb" > `</ span >
< span class = "sb" > ```</ span > bash
< span class = "c1" > # Only available when time_domain param is set to device</ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_reset_timestamp< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_sync_interleaverlaser</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # Only available if interleave_ae_mode is ' laser' and interleave_frame_enable is true</ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_sync_interleaverlaser< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 0}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
< section id = "depth-filter-configuration" >
< h2 >< span class = "section-number" > 4.2.5. </ span > Depth Filter Configuration< a class = "headerlink" href = "#depth-filter-configuration" title = "Link to this heading" > </ a ></ h2 >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_filter</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # Set DecimationFilter</ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_filter< span class = "w" > </ span > orbbec_camera_msgs/srv/SetFilter< span class = "w" > </ span >< span class = "s1" > ' {filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}' </ span >
< span class = "c1" > # Set SpatialAdvancedFilter</ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_filter< span class = "w" > </ span > orbbec_camera_msgs/srv/SetFilter< span class = "w" > </ span >< span class = "s1" > ' {filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
< section id = "data-capture-calibration-management" >
< h2 >< span class = "section-number" > 4.2.6. </ span > Data Capture & Calibration Management< a class = "headerlink" href = "#data-capture-calibration-management" title = "Link to this heading" > </ a ></ h2 >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/save_images</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/save_images< span class = "w" > </ span > std_srvs/srv/Empty< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/save_point_cloud</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/save_point_cloud< span class = "w" > </ span > std_srvs/srv/Empty< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
< blockquote >
< div >< p >< strong > Note</ strong > : The following services are currently supported only on the 435Le module. Each service can store only one set of data or string at a time.</ p >
</ div ></ blockquote >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/write_customer_data</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/read_customer_data</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/write_customer_data< span class = "w" > </ span > orbbec_camera_msgs/srv/SetString< span class = "w" > </ span >< span class = "s1" > ' {data: " string" }' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/read_customer_data< span class = "w" > </ span > orbbec_camera_msgs/srv/GetString< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_user_calib_params</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_user_calib_params</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_user_calib_params< span class = "w" > </ span > orbbec_camera_msgs/srv/SetUserCalibParams< span class = "w" > </ span >< span class = "se" > \</ span >
< span class = "s1" > ' {k: [614.9613647460938, 0.0, 634.91552734375,</ span >
< span class = "s1" > 0.0, 614.65771484375, 391.407470703125,</ span >
< span class = "s1" > 0.0, 0.0, 1.0],</ span >
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< span class = "s1" > 9.096559369936585e-05,</ span >
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< span class = "s1" > 0.0, 0.0, 0.0],</ span >
< span class = "s1" > rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,</ span >
< span class = "s1" > -0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,</ span >
< span class = "s1" > 0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],</ span >
< span class = "s1" > translation: [-0.023897956848144532,</ span >
< span class = "s1" > -9.439220279455185e-05,</ span >
< span class = "s1" > -6.804073229432106e-06]}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_user_calib_params< span class = "w" > </ span > orbbec_camera_msgs/srv/GetUserCalibParams< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
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