2026-01-04 01:12:38 +00:00
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OrbbecSDK V2 ROS2 封装
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2026-01-04 01:19:58 +00:00
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
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<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>
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<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>
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<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>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
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<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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2026-01-04 01:12:38 +00:00
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2026-01-04 01:19:58 +00:00
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</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>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
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<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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2026-01-04 01:12:38 +00:00
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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">
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<h1>常见问题<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<section id="id2">
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<h2>意外崩溃<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
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<p>如果相机节点意外崩溃，它将在当前运行目录中生成崩溃日志：<code class="docutils literal notranslate"><span class="pre">Log/camera_crash_stack_trace_xx.log</span></code>。请将此日志发送给支持团队或提交到GitHub issue以获得进一步帮助。</p>
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</section>
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<section id="id3">
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<h2>多相机无数据流<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
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<p><strong>电源供应不足</strong>：</p>
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<ul class="simple">
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<li><p>确保每个相机连接到单独的集线器。</p></li>
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<li><p>使用有源集线器为每个相机提供足够的电力。</p></li>
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</ul>
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<p><strong>高分辨率</strong>：</p>
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<ul class="simple">
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<li><p>尝试降低分辨率以解决数据流问题。</p></li>
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</ul>
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<p><strong>增加usbfs_memory_mb值</strong>：</p>
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<ul class="simple">
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<li><p>通过运行以下命令将 <code class="docutils literal notranslate"><span class="pre">usbfs_memory_mb</span></code> 值增加到128MB（这是参考值，可根据系统需求调整）：</p></li>
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</ul>
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<div class="highlight-default notranslate"><div class="highlight"><pre><span></span> <span class="n">echo</span> <span class="mi">128</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
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</pre></div>
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</div>
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<ul class="simple">
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<li><p>要使此更改永久生效，请查看<a class="reference external" href="https://github.com/OpenKinect/libfreenect2/issues/807">此链接</a>。</p></li>
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</ul>
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</section>
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<section id="id4">
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<h2>其他故障排除<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
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<ul class="simple">
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<li><p>如果遇到其他问题，将 <code class="docutils literal notranslate"><span class="pre">log_level</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">debug</span></code>。这将在运行目录中生成SDK日志文件：<code class="docutils literal notranslate"><span class="pre">Log/OrbbecSDK.log.txt</span></code>。请将此文件提供给支持团队以获得进一步帮助。</p></li>
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<li><p>如果需要固件日志，将 <code class="docutils literal notranslate"><span class="pre">enable_heartbeat</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 以激活此功能。</p></li>
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</ul>
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</section>
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<section id="id5">
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<h2>为什么有这么多启动文件？<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
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<ul class="simple">
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<li><p>不同的相机具有不同的默认分辨率和图像格式。</p></li>
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<li><p>为简化使用，每个相机都有自己的启动文件。</p></li>
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</ul>
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</section>
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<section id="id6">
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<h2>多相机连接时如何指定启动某一个相机<a class="headerlink" href="#id6" title="Link to this heading"></a></h2>
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<p>如果启动文件未显式指定要使用的设备，在同时连接多台相机时，驱动会默认连接到其中一个（默认设备）。</p>
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<p>可以先通过以下命令查看设备序列号：</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
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</pre></div>
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</div>
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<p>然后在启动时显式指定序列号，例如：</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_bolt.launch.py<span class="w"> </span>serial_number:<span class="o">=</span>CL8H741005J
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</pre></div>
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</div>
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</section>
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<section id="id7">
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<h2>多相机启动或切换流时为什么需要设置延迟？<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
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<p>多相机系统对带宽和设备初始化时序要求较高。如果在同一时间启动或切换多个相机流，可能会引发带宽瞬时拥塞，进而导致设备初始化失败、流启动异常或丢帧等问题。为确保系统稳定性，建议注意以下几点：</p>
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<ul>
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<li><p><strong>多相机启动阶段</strong></p>
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<p>在启动多个相机时，建议在每个相机启动之间增加适当的延迟（例如 <strong>2s</strong>），以避免瞬时带宽过载或底层设备初始化冲突。</p>
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</li>
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<li><p><strong>流开关与模式切换阶段</strong></p>
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<p>在调用开关流相关服务（如 <code class="docutils literal notranslate"><span class="pre">set_streams_enable</span></code>、<code class="docutils literal notranslate"><span class="pre">toggle_depth</span></code>、<code class="docutils literal notranslate"><span class="pre">toggle_color</span></code>）时，不建议同时触发多个接口调用，应在各操作之间设置合理的时间间隔（例如 <strong>20 ms</strong>），以保证流状态切换的可靠性。</p>
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</li>
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</ul>
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<p>遵循上述时序控制原则，有助于提升多相机系统在启动和运行过程中的稳定性，减少异常和不可预期行为的发生。</p>
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</section>
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<section id="femto-bolt">
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<h2>femto bolt 深度流无数据<a class="headerlink" href="#femto-bolt" title="Link to this heading"></a></h2>
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<p>该模组运行时依赖 OpenGL 库，若系统未安装或驱动不完整，将导致深度流无数据。请先安装 OpenGL 相关库（以 Ubuntu 为例）：</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span><span class="o">&&</span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>mesa-utils<span class="w"> </span>libgl1-mesa-glx<span class="w"> </span>libglu1-mesa
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</pre></div>
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</div>
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<p>安装后可通过以下命令检查 OpenGL 是否可用：</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span>glxinfo<span class="w"> </span>-B
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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.。
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2026-01-04 01:19:58 +00:00
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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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