<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
</ul>
</li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<liclass="toctree-l4"><aclass="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>
</ul>
</li>
</ul>
</li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l3"><aclass="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>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html">7.1. Building a Debian Package</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.1.1. Preparing the Environment</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.1.3. Building the Package</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l2"><aclass="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>
<p>By default, we recommend using the <strong>v2-main</strong> branch. For older OpenNI devices not supported by v2-main, please use the <strong>main</strong> branch. Device models that are only supported by the main branch are listed in the table below.</p>
<p>If you are a user in China, it is recommended to use <aclass="reference external"href="https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2">gitee Repo</a>.</p>
<h2><spanclass="section-number">1.1.1. </span>Support Hardware Products<aclass="headerlink"href="#support-hardware-products"title="Link to this heading"></a></h2>
<p>The following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the <aclass="reference external"href="https://github.com/orbbec/OrbbecSDK_ROS2">main</a> branch.</p>
<p>For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.</p>
<p>To learn how to obtain and upgrade the latest firmware, <aclass="reference internal"href="../3_quickstarts/orbbecviewer.html"><spanclass="doc">please click here</span></a>.</p>
</table><p>All launch files are essentially similar, with the primary difference being the default values of the parameters set
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.</p>
<h2><spanclass="section-number">1.1.2. </span>Orbbec camera datasheet<aclass="headerlink"href="#orbbec-camera-datasheet"title="Link to this heading"></a></h2>
<p>Refer to the camera datasheet for more information.</p>
<tdrowspan="4"><ahref="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/04/22062452/Gemini-330-series-Datasheet-V1.6.pdf">Gemini 330 Series Datasheet for USB Devices</a></td>
</tr>
<tr><td>Gemini 336</td></tr>
<tr><td>Gemini 335L</td></tr>
<tr><td>Gemini 336L</td></tr>
<tr>
<td>Gemini 335Lg</td>
<td><ahref="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2024/10/22030914/Gemini-335Lg-Datasheet-V1.0-241022.pdf">Gemini 330 Series Datasheet for GMSL Devices</a></td>
</tr>
<tr>
<td>Gemini 335Le</td>
<td><ahref="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/03/24023151/Orbbec-Gemini-335Le-Datasheet-V1-2.pdf">Gemini 330 Series Datasheet for Ethernet Devices</a></td>
<td><ahref="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-Mini-Pro-1.pdf">Orbbec Astra Mini Pro Datasheet</a></td>
