)�”}”(hhh]”(h)�”}”(hŒIntroduction”h]”hŒIntroduction”…”�”}”(hh-hhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hhKhh*hh)ubhŒ paragraph”“”)�”}”(hŒ]This section provides a quick start to using the Orbbec ROS 2 wrapper.
You will learn how to:”h]”(hŒFThis section provides a quick start to using the Orbbec ROS 2 wrapper.”…”�”}”(hh<hhhNhNubhŒ
”…”�”}”(hh<hhhNhNubhŒYou will learn how to:”…”�”}”(hh<hhhNhNubeh}”(h ]”h"]”h$]”h&]”uh(h:hKhh*hhhh)ubhŒbullet_list”“”)�”}”(hhh]”(hŒ list_item”“”)�”}”(hhh]”h;)�”}”(hŒLaunch a camera node.”h]”hŒLaunch a camera node.”…”�”}”(hh[hhhNhNubah}”(h ]”h"]”h$]”h&]”uh(h:hKhhXhhhh)ubah}”(h ]”h"]”h$]”h&]”uh(hVhKhhShhhh)ubhW)�”}”(hhh]”h;)�”}”(hŒ'Visualize depth/color streams in RViz2.”h]”(hŒ!Visualize depth/color streams in ”…”�”}”(hhphhhNhNubhŒstrong”“”)�”}”(hŒRViz2”h]”hŒRViz2”…”�”}”(hhzhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hxhhphhhh)hKubhŒ.”…”�”}”(hhphhhNhNubeh}”(h ]”h"]”h$]”h&]”uh(h:hK hhmhhhh)ubah}”(h ]”h"]”h$]”h&]”uh(hVhK hhShhhh)ubhW)�”}”(hhh]”h;)�”}”(hŒ8Interact with topics and services using ROS 2 CLI tools.”h]”(hŒ(Interact with topics and services using ”…”�”}”(hh˜hhhNhNubhy)�”}”(hŒROS 2 CLI tools”h]”hŒROS 2 CLI tools”…”�”}”(hhhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hxhh˜hhhh)hKubhŒ.”…”�”}”(hh˜hhhNhNubeh}”(h ]”h"]”h$]”h&]”uh(h:hK
)�”}”(hhh]”(h)�”}”(hŒ#Build your First Camera Application”h]”hŒ#Build your First Camera Application”…”�”}”(hhÔhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hhKhhÑhh)ubh
)�”}”(hhh]”(h)�”}”(hŒ"Step 1: Source ROS 2 and Workspace”h]”hŒ"Step 1: Source ROS 2 and Workspace”…”�”}”(hhähhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hhKhháhh)ubh;)�”}”(hŒ;Make sure ROS 2 and your workspace environment are sourced:”h]”hŒ;Make sure ROS 2 and your workspace environment are sourced:”…”�”}”(hhñhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(h:hKhháhhhh)ubhŒ
)�”}”(hhh]”(h)�”}”(hŒStep 2: Launch the Camera Node”h]”hŒStep 2: Launch the Camera Node”…”�”}”(hj7hhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hhKhj4hh)ubhR)�”}”(hhh]”hW)�”}”(hhh]”h;)�”}”(hŒ
On terminal 1”h]”hŒ
On terminal 1”…”�”}”(hjJhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(h:hK hjGhhhh)ubah}”(h ]”h"]”h$]”h&]”uh(hVhK hjDhhhh)ubah}”(h ]”h"]”h$]”h&]”uh(hQhK hj4hhhh)ubhÿ)�”}”(hŒ¿. ./install/setup.bash
ros2 run orbbec_camera list_devices_node #Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table”h]”hŒ¿. ./install/setup.bash
ros2 run orbbec_camera list_devices_node #Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table”…”�”}”hjasbah}”(h ]”h"]”h$]”h&]”Œlanguage”Œbash”jjuh(hþhj4hhhh)hKubh;)�”}”(hŒJIf you have multiple cameras connected, you can specify the serial number:”h]”(hŒ<If you have multiple cameras connected, you can specify the ”…”�”}”(hjphhhNhNubhy)�”}”(hŒ
serial number”…”�”}”(hjxhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hxhjphhhh)hKubhŒ:”…”�”}”(hjphhhNhNubeh}”(h ]”h"]”h$]”h&]”uh(h:hK(hj4hhhh)ubhÿ)�”}”(hŒSros2 launch orbbec_camera gemini_330_series.launch.py serial_number:=<YourCameraSN>”h]”hŒSros2 launch orbbec_camera gemini_330_series.launch.py serial_number:=<YourCameraSN>”…”�”}”hjŽsbah}”(h ]”h"]”h$]”h&]”Œlanguage”Œbash”jjuh(hþhj4hhhh)hKubeh}”(h ]”Œstep-2-launch-the-camera-node”ah"]”h$]”Œstep 2: launch the camera node”ah&]”uh(h hKhhÑhhhh)ubh
)�”}”(hhh]”(h)�”}”(hŒStep 3: Visualize in RViz2”h]”hŒStep 3: Visualize in RViz2”…”�”}”(hj§hhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hhK.hj¤hh)ubh;)�”}”(hŒ)Launch RViz2 and load the default config:”h]”hŒ)Launch RViz2 and load the default config:”…”�”}”(hj´hhhNhNubah}”(h ]”h"]”h$]”h&]”uh(h:hK0hj¤hhhh)ubhR)�”}”(hhh]”hW)�”}”(hhh]”h;)�”}”(hŒ
On terminal 2”…”�”}”(hjÇhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(h:hK2hjÄhhhh)ubah}”(h ]”h"]”h$]”h&]”uh(hVhK2hjÁhhhh)ubah}”(h ]”h"]”h$]”h&]”uh(hQhK2hj¤hhhh)ubhÿ)�”}”(hŒrviz2”h]”hŒrviz2”…”�”}”hjÞsbah}”(h ]”h"]”h$]”h&]”Œlanguage”Œbash”jjuh(hþhj¤hhhh)hKubhR)�”}”(hhh]”(hW)�”}”(hhh]”h;)�”}”(hŒ;Add an Image display, set topic to /camera/color/image_raw.”h]”(hŒAdd an ”…”�”}”(hjóhhhNhNubhy)�”}”(hŒImage”h]”hŒImage”…”�”}”(hjûhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hxhjóhhhh)hKubhŒ display, set topic to ”…”�”}”(hjóhhhNhNubhŒliteral”“”)�”}”(hŒ/camera/color/image_raw”h]”hŒ/camera/color/image_raw”…”�”}”(hjhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(jhjóhhhh)hKubhŒ.”…”�”}”(hjóhhhNhNubeh}”(h ]”h"]”h$]”h&]”uh(h:hK8hjðhhhh)ubah}”(h ]”h"]”h$]”h&]”uh(hVhK8hjíhhhh)ubhW)�”}”(hhh]”h;)�”}”(hŒ6Add another Image display for /camera/depth/image_raw.”h]”(hŒAdd another ”…”�”}”(hj,hhhNhNubhy)�”}”(hŒImage”h]”hŒImage”…”�”}”(hj4hhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hxhj,hhhh)hKubhŒ
display for ”…”�”}”(hj,hhhNhNubj
)�”}”(hŒ/camera/depth/image_raw”h]”hŒ/camera/depth/image_raw”…”�”}”(hjEhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(jhj,hhhh)hKubhŒ.”…”�”}”(hj,hhhNhNubeh}”(h ]”h"]”h$]”h&]”uh(h:hK9hj)hhhh)ubah}”(h ]”h"]”h$]”h&]”uh(hVhK9hjíhhhh)ubhW)�”}”(hhh]”h;)�”}”(hŒ?Optionally, add a PointCloud2 display for /camera/depth/points.”h]”(hŒOptionally, add a ”…”�”}”(hjchhhNhNubhy)�”}”(hŒPointCloud2”h]”hŒPointCloud2”…”�”}”(hjkhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hxhjchhhh)hKubhŒ
)�”}”(hŒ/camera/depth/points”h]”hŒ/camera/depth/points”…”�”}”(hj|hhhNhNubah}”(h ]”h"]”h$]”h&]”uh(jhjchhhh)hKubhŒ.”…”�”}”(hjchhhNhNubeh}”(h ]”h"]”h$]”h&]”uh(h:hK:hj`hhhh)ubah}”(h ]”h"]”h$]”h&]”uh(hVhK:hjíhhhh)ubeh}”(h ]”h"]”h$]”h&]”uh(hQhK8hj¤hhhh)ubh;)�”}”(hŒOYou should now see the color stream, depth stream, and 3D point cloud in RViz2.”h]”hŒOYou should now see the color stream, depth stream, and 3D point cloud in RViz2.”…”�”}”(hjœhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(h:hK<hj¤hhhh)ubeh}”(h ]”Œstep-3-visualize-in-rviz2”ah"]”h$]”Œstep 3: visualize in rviz2”ah&]”uh(h hK.hhÑhhhh)ubeh}”(h ]”Œ#build-your-first-camera-application”ah"]”h$]”Œ#build your first camera application”ah&]”uh(h hKhhhhhh)ubhÈ)�”}”(hhh]”h}”(h ]”h"]”h$]”h&]”uh(hÇhhhhhh)hKubh
)�”}”(hhh]”(h)�”}”(hŒSample Features”h]”hŒSample Features”…”�”}”(hjÂhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hhK@hj¿hh)ubh;)�”}”(hŒ7After the node is running, try some ROS 2 CLI commands:”h]”hŒ7After the node is running, try some ROS 2 CLI commands:”…”�”}”(hjÏhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(h:hKBhj¿hhhh)ubh
)�”}”(hhh]”(h)�”}”(hŒ,List available topics / services/ parameters”h]”hŒ,List available topics / services/ parameters”…”�”}”(hjßhhhNhNubah}”(h ]”h"]”h$]”h&]”uh(hhKDhjÜhh)ubhÿ)�”}”(hŒ1ros2 topic list
