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OrbbecSDK V2 ROS2 封装
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< li class = "toctree-l1" >< a class = "reference internal" href = "../index.html" > Camera Devices</ a >< ul class = "simple" >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../../lidar_devices/index.html" > Lidar Devices</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../../lidar_devices/lidar.html" > 1. 安装</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id2" > 1.1. 先决条件</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#deb" > 1.2. 安装deb依赖项</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#udev" > 1.3. 安装udev规则</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id3" > 1.4. 构建包</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id4" > 1.5. 启动激光雷达节点</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id5" > 2. 使用方法</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id6" > 2.1. 运行驱动</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id7" > 2.2. 获取已连接激光雷达的设备信息</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id8" > 2.3. 检查激光雷达支持的配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id9" > 2.4. 2.4 参数和配置</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id10" > 3. 点云数据详细说明</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id11" > 3.1. 点云格式</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id12" > 3.2. 点云聚合功能</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id13" > 3.2.1. 功能特点：</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id14" > 3.2.2. 使用示例：</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#imu" > 4. IMU数据</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id15" > 4.1. IMU话题</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id16" > 4.2. 使用IMU数据</ a ></ li >
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< a href = "../../../_sources/source/camera_devices/1_overview/introduction.md.txt" rel = "nofollow" > 查看页面源码</ a >
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< div class = "lang-switch" style = "margin:0 0 1em 0; font-size:0.9em;" >< a class = "lang-other" href = "#" > English</ a > | < a class = "lang-current" href = "#" > 中文</ 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 = "id1" >
< h1 > 引言< a class = "headerlink" href = "#id1" title = "Link to this heading" > </ a ></ h1 >
< p > OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它支持 ROS2 Foxy、Humble 和 Jazzy 发行版。</ p >
< p > 默认推荐使用 < strong > v2-main</ strong > 分支。对于 v2-main 尚不支持的旧 OpenNI 设备，请使用 < strong > main</ strong > 分支。仅由 main 分支支持的设备型号列在下表中。</ p >
< p > 如果您是中国用户，推荐使用 < a class = "reference external" href = "https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2" > gitee 仓库</ a > 。</ p >
< p > 下面是 main 分支 (v1.x) 与 v2-main 分支 (v2.x) 的设备支持列表：</ p >
< table border = "1" style = "border-collapse: collapse; text-align: left; width: 100%;" >
< thead >
< tr style = "background-color: #1f4e78; color: white; text-align: center;" >
< th > 产品系列</ th >
< th > 产品</ th >
< th >< a href = "https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style = "color: black; text-decoration: none;" > main 分支</ a ></ th >
< th >< a href = "https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style = "color: black; text-decoration: none;" > v2-main 分支</ a ></ th >
</ tr >
</ thead >
< tbody >
< tr >
< td style = "text-align: center; font-weight: bold;" > Gemini 435Le</ td >
< td > Gemini 435Le</ td >
< td > not supported</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td rowspan = "8" style = "text-align: center; font-weight: bold;" > Gemini 330</ td >
< td > Gemini 335Le</ td >
< td > not supported</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 335</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 336</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 330</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 335L</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 336L</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 330L</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 335Lg</ td >
< td > not supported</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td rowspan = "5" style = "text-align: center; font-weight: bold;" > Gemini 2</ td >
< td > Gemini 2</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 2 L</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 2 XL</ td >
< td > recommended for new designs</ td >
< td > to be supported</ td >
</ tr >
< tr >
< td > Gemini 215</ td >
< td > not supported</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Gemini 210</ td >
< td > not supported</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td rowspan = "3" style = "text-align: center; font-weight: bold;" > Femto</ td >
< td > Femto Bolt</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Femto Mega</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Femto Mega I</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td rowspan = "3" style = "text-align: center; font-weight: bold;" > Astra</ td >
< td > Astra 2</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
< tr >
< td > Astra+</ td >
< td > limited maintenance</ td >
< td > not supported</ td >
</ tr >
< tr >
< td > Astra Pro Plus</ td >
< td > limited maintenance</ td >
< td > not supported</ td >
</ tr >
< tr >
< td style = "text-align: center; font-weight: bold;" > Astra Mini</ td >
< td > Astra Mini (S) Pro</ td >
< td > full maintenance</ td >
< td > recommended for new designs</ td >
</ tr >
</ tbody >
</ table >< p >< strong > 注意</ strong > : 如果未找到您的设备，请联系我们的 FAE 或销售代表获取帮助。</ p >
< p >< strong > 术语定义</ strong > :</ p >
< ol class = "simple" >
< li >< p > 建议用于新设计：我们将提供完整支持，包括新特性、缺陷修复与性能优化；</ p ></ li >
< li >< p > 完整维护：我们将提供缺陷修复支持；</ p ></ li >
< li >< p > 限制维护：我们仅提供关键缺陷修复支持；</ p ></ li >
< li >< p > 不支持：当前版本不支持该设备；</ p ></ li >
< li >< p > 即将支持：近期将添加支持。</ p ></ li >
</ ol >
< section id = "id2" >
< h2 > 支持的硬件产品< a class = "headerlink" href = "#id2" title = "Link to this heading" > </ a ></ h2 >
< p > 以下设备由 OrbbecSDK ROS2 封装 v2-main 分支支持。后续将增加更多设备支持。如果您在下表中未找到设备，请尝试 < a class = "reference external" href = "https://github.com/orbbec/OrbbecSDK_ROS2" > main</ a > 分支。</ p >
< p > 为获得最佳性能，强烈建议升级到最新固件版本，以确保获得最新的改进与缺陷修复。</ p >
< p > 关于如何获取与升级最新固件，< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html" >< span class = "doc" > 请点击这里</ span ></ a > 。</ p >
< table border = "1" class = "docutils" >
< thead >
< tr >
< th >< strong > 产品列表</ strong ></ th >
< th >< strong > 推荐固件版本</ strong ></ th >
< th >< strong > 启动文件</ strong ></ th >
</ tr >
</ thead >
< tbody >
< tr >
< td > Astra Mini Pro</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro" > 2.0.03</ a ></ td >
< td > astra.launch.py</ td >
</ tr >
< tr >
< td > Astra Mini S Pro</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro" > 2.0.03</ a ></ td >
< td > astra.launch.py</ td >
</ tr >
< tr >
< td > Gemini 435Le</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware" > 1.3.2</ a ></ td >
< td > gemini435_le.launch.py</ td >
</ tr >
< tr >
< td > Gemini 330 series</ td >
< td >< a href = "https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip" > 1.6.00</ a ></ td >
< td > gemini_330_series.launch.py</ td >
</ tr >
< tr >
< td > Gemini 215</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware" > 1.0.9</ a ></ td >
< td > gemini210.launch.py</ td >
</ tr >
< tr >
< td > Gemini 210</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware" > 1.0.9</ a ></ td >
< td > gemini210.launch.py</ td >
</ tr >
< tr >
< td > Gemini 2</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware" > 1.4.98</ a ></ td >
< td > gemini2.launch.py</ td >
</ tr >
< tr >
< td > Gemini 2 L</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware" > 1.5.2</ a ></ td >
< td > gemini2L.launch.py</ td >
</ tr >
< tr >
< td > Femto Bolt</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware" > 1.1.2</ a ></ td >
< td > femto_bolt.launch.py</ td >
</ tr >
< tr >
< td > Femto Mega</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware" > 1.3.1</ a ></ td >
< td > femto_mega.launch.py</ td >
</ tr >
< tr >
< td > Femto Mega I</ td >
< td >< a href = "https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware" > 2.0.4</ a ></ td >
< td > femto_mega.launch.py</ td >
</ tr >
< tr >
< td > Astra 2</ td >
< td >< a href = "https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip" > 2.8.20</ a ></ td >
< td > astra2.launch.py</ td >
</ tr >
</ tbody >
</ table >< p > 所有启动文件本质上是类似的，主要区别在于同系列不同型号设置的参数默认值。USB 标准差异（如 USB 2.0 与 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别关注启动文件中的分辨率设置以及其他参数，以确保兼容与最佳性能。</ p >
</ section >
< section id = "orbbec" >
< h2 > Orbbec 相机规格书< a class = "headerlink" href = "#orbbec" title = "Link to this heading" > </ a ></ h2 >
< p > 更多信息请参考相机规格书。</ p >
< style >
table {
border-collapse : collapse ;
width : 100 % ;
}
th , td {
border : 1 px solid #ccc ;
padding : 8 px ;
text-align : left ;
vertical-align : middle ;
}
thead th {
background-color : #1f4e78 ;
color : white ;
text-align : center ;
vertical-align : middle ;
}
</ style >< table >
< thead >
< tr >
< th > 产品系列</ th >
< th > 产品</ th >
< th > 规格书</ th >
</ tr >
</ thead >
< tbody >
< tr >
< td style = "text-align: center;" > Gemini 435Le</ td >
< td > Gemini 435Le</ td >
< td >< a href = "https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/06/04011158/Orbbec-Gemini-435Le-Datasheet-V1.pdf" > Orbbec Gemini 435Le 规格书</ a ></ td >
</ tr >
< tr >
< td style = "text-align: center;" rowspan = "6" > Gemini 330</ td >
< td > Gemini 335</ td >
< td rowspan = "4" >< a href = "https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/04/22062452/Gemini-330-series-Datasheet-V1.6.pdf" > Gemini 330 系列 USB 设备规格书</ 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 >< a href = "https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2024/10/22030914/Gemini-335Lg-Datasheet-V1.0-241022.pdf" > Gemini 330 系列 GMSL 设备规格书</ a ></ td >
</ tr >
< tr >
< td > Gemini 335Le</ td >
< td >< a href = "https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/03/24023151/Orbbec-Gemini-335Le-Datasheet-V1-2.pdf" > Gemini 330 系列 以太网设备规格书</ a ></ td >
</ tr >
< tr >
< td style = "text-align: center;" rowspan = "3" > Gemini 2</ td >
< td > Gemini 2</ td >
< td rowspan = "2" >< a href = "https://xm917ch2uk.feishu.cn/file/Khxfb2vdioUghexIMqJcAyL3nXf" > Orbbec Gemini 2 系列规格书</ a ></ td >
</ tr >
< tr >< td > Gemini 2 L</ td ></ tr >
< tr >
< td > Gemini 2 XL</ td >
< td >< a href = "https://xm917ch2uk.feishu.cn/file/QW2vbNvwxoocRIxSL6Zcvut2npS" > Orbbec Gemini 2 XL 规格书</ a ></ td >
</ tr >
< tr >
< td style = "text-align: center;" rowspan = "3" > Femto</ td >
< td > Femto Bolt</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2024/08/ORBBEC_Datasheet_Femto-Bolt-v1.0.pdf" > Orbbec Femto Bolt 规格书</ a ></ td >
</ tr >
< tr >
< td > Femto Mega</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Femto-Mega1.pdf" > Orbbec Femto Mega 规格书</ a ></ td >
</ tr >
< tr >
< td > Femto Mega I</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/08/ORBBEC_Datasheet_Femto-Mega-I.pdf" > Orbbec Femto Mega I 规格书</ a ></ td >
</ tr >
< tr >
< td style = "text-align: center;" rowspan = "3" > Astra</ td >
< td > Astra 2</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-2_V1.2.pdf" > Orbbec Astra 2 规格书</ a ></ td >
</ tr >
< tr >
< td > Astra+</ td >
< td >< a href = "https://xm917ch2uk.feishu.cn/file/Qk0zbx26Doh8XMxw0rIcOgQYnff" > Orbbec Astra+ 规格书</ a ></ td >
</ tr >
< tr >
< td > Astra Mini Pro</ td >
< td >< a href = "https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-Mini-Pro-1.pdf" > Orbbec Astra Mini Pro 规格书</ a ></ td >
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< h2 > 支持的平台< a class = "headerlink" href = "#id3" title = "Link to this heading" > </ a ></ h2 >
< ul class = "simple" >
< li >< p > Linux x64：已在 Ubuntu 22.04 上测试</ p ></ li >
< li >< p > Linux ARM64：已在 NVIDIA Jetson AGX Orin、NVIDIA Jetson Orin NX、NVIDIA Jetson Orin Nano、NVIDIA Jetson AGX Xavier、NVIDIA Jetson Xavier NX 上测试</ p ></ li >
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< p > © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
2026-01-04 01:19:58 +00:00
< span class = "lastupdated" > 最后更新于 2026年01月04日 01:19:55.
2026-01-04 01:12:38 +00:00
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