mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 11:10:19 +08:00
82 lines
2.3 KiB
Markdown
82 lines
2.3 KiB
Markdown
|
## 在ROS 2中启动相机节点
|
||
|
|
|
||
|
|
本指南提供了使用ROS 2启动启用彩色点云功能的相机节点的指令。
|
||
|
|
|
||
|
|
### 启动节点的命令
|
||
|
|
|
||
|
|
要启动相机节点，请在终端执行以下命令：
|
||
|
|
|
||
|
|
```bash
|
||
|
|
ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
|
||
|
|
```
|
||
|
|
|
||
|
|
此命令将启动相机节点并启用彩色点云。
|
||
|
|
|
||
|
|
### 发布的主题
|
||
|
|
|
||
|
|
一旦相机节点运行，它将在多个ROS主题上发布数据。以下是可用主题的列表：
|
||
|
|
|
||
|
|
- **IMU数据和IMU信息：**
|
||
|
|
- `camera/accel/imu_info`
|
||
|
|
- `camera/gyro/imu_info`
|
||
|
|
- `camera/gyro_accel/sample`
|
||
|
|
|
||
|
|
- **彩色相机主题：**
|
||
|
|
- `/camera/color/camera_info`
|
||
|
|
- `/camera/color/image_raw`
|
||
|
|
- `/camera/color/image_raw/compressed`
|
||
|
|
- `/camera/color/image_raw/compressedDepth`
|
||
|
|
- `/camera/color/image_raw/theora`
|
||
|
|
- `/camera/color/metadata`
|
||
|
|
|
||
|
|
- **深度相机主题：**
|
||
|
|
- `/camera/depth/camera_info`
|
||
|
|
- `/camera/depth/image_raw`
|
||
|
|
- `/camera/depth/image_raw/compressed`
|
||
|
|
- `/camera/depth/image_raw/compressedDepth`
|
||
|
|
- `/camera/depth/image_raw/theora`
|
||
|
|
- `/camera/depth/metadata`
|
||
|
|
- `/camera/depth/points`
|
||
|
|
- `/camera/depth_filter_status`
|
||
|
|
- `/camera/depth_registered/points`
|
||
|
|
- `/camera/depth_to_color`
|
||
|
|
- `/camera/depth_to_left_ir`
|
||
|
|
- `/camera/depth_to_right_ir`
|
||
|
|
|
||
|
|
- **红外相机主题：**
|
||
|
|
- `/camera/left_ir/camera_info`
|
||
|
|
- `/camera/left_ir/image_raw`
|
||
|
|
- `/camera/left_ir/image_raw/compressed`
|
||
|
|
- `/camera/left_ir/image_raw/compressedDepth`
|
||
|
|
- `/camera/left_ir/image_raw/theora`
|
||
|
|
- `/camera/left_ir/metadata`
|
||
|
|
- `/camera/right_ir/camera_info`
|
||
|
|
- `/camera/right_ir/image_raw`
|
||
|
|
- `/camera/right_ir/image_raw/compressed`
|
||
|
|
- `/camera/right_ir/image_raw/compressedDepth`
|
||
|
|
- `/camera/right_ir/image_raw/theora`
|
||
|
|
- `/camera/right_ir/metadata`
|
||
|
|
|
||
|
|
- **杂项主题：**
|
||
|
|
- `/diagnostics`
|
||
|
|
- `/parameter_events`
|
||
|
|
- `/rosout`
|
||
|
|
- `/rosout_agg`
|
||
|
|
|
||
|
|
### 在RViz2中可视化数据
|
||
|
|
|
||
|
|
要查看点云或图像数据，请使用RViz2：
|
||
|
|
|
||
|
|
1. 启动RViz2。
|
||
|
|
2. 从发布的主题列表中选择您希望可视化的主题。
|
||
|
|
3. 将选定的主题添加到RViz2中开始查看数据。
|
||
|
|
|
||
|
|
### 示例可视化
|
||
|
|
|
||
|
|
以下是在RViz2中可视化可能出现的示例：
|
||
|
|
|
||
|
|
- **点云可视化**
|
||
|
|
|
||
|
|
|
||
|
|
- **图像数据可视化**
|
||
|
|
|