OrbbecSDK_ROS2/en/.doctrees/source/3_quickstarts/quickstart.doctree

€•À2Œdocutils.nodes”Œdocument”“”)�”}”(Œ	rawsource”Œ”Œchildren”]”hŒsection”“”)�”}”(hhh]”(hŒtitle”“”)�”}”(hŒROS Package QuickStarts”h]”hŒText”“”ŒROS Package QuickStarts”…”�”}”(Œparent”hŒ	_document”hŒsource”NŒline”NubaŒ
attributes”}”(Œids”]”Œclasses”]”Œnames”]”Œdupnames”]”Œbackrefs”]”uŒtagname”hhK
hhhŒZ/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/en/source/3_quickstarts/quickstart.md”ubh
)�”}”(hhh]”(h)�”}”(hŒIntroduction”h]”hŒIntroduction”…”�”}”(hh/hhhNhNubah}”(h ]”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$]”h&]”h(]”uh*h=hKhh,hhhh+ubhŒbullet_list”“”)�”}”(hhh]”(hŒ	list_item”“”)�”}”(hhh]”h>)�”}”(hŒLaunch a camera node.”h]”hŒLaunch a camera node.”…”�”}”(hh_hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h=hKhh\hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hZhKhhWhhhh+ubh[)�”}”(hhh]”h>)�”}”(hŒ'Visualize depth/color streams in RViz2.”h]”(hŒ!Visualize depth/color streams in ”…”�”}”(hhvhhhNhNubhŒstrong”“”)�”}”(hŒRViz2”h]”hŒRViz2”…”�”}”(hh€hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h~hhvhhhh+hKubhŒ
.”…”�”}”(hhvhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h=hK	hhshhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hZhK	hhWhhhh+ubh[)�”}”(hhh]”h>)�”}”(hŒ8Interact with topics and services using ROS 2 CLI tools.”h]”(hŒ(Interact with topics and services using ”…”�”}”(hh¡hhhNhNubh)�”}”(hŒROS 2 CLI tools”h]”hŒROS 2 CLI tools”…”�”}”(hh©hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h~hh¡hhhh+hKubhŒ
.”…”�”}”(hh¡hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h=hK
hhžhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hZhK
hhWhhhh+ubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hUhKhh,hhhh+ubeh}”(h ]”Œintroduction”ah"]”h$]”Œintroduction”ah&]”h(]”uh*h	hKhhhhhh+ubhŒ
transition”“”)�”}”(hhh]”h}”(h ]”h"]”h$]”h&]”h(]”uh*hÕhhhhhh+hKubh
)�”}”(hhh]”(h)�”}”(hŒ#Build your First Camera Application”h]”hŒ#Build your First Camera Application”…”�”}”(hhãhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhhàhh+ubh
)�”}”(hhh]”(h)�”}”(hŒ"Step 1: Source ROS 2 and Workspace”h]”hŒ"Step 1: Source ROS 2 and Workspace”…”�”}”(hhôhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhhñhh+ubh>)�”}”(hŒ;Make sure ROS 2 and your workspace environment are sourced:”h]”hŒ;Make sure ROS 2 and your workspace environment are sourced:”…”�”}”(hj
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h=hKhhñhhhh+ubhŒ
literal_block”“”)�”}”(hŒJsource /opt/ros/$ROS_DISTRO/setup.bash
source ~/ros2_ws/install/setup.bash”h]”hŒJsource /opt/ros/$ROS_DISTRO/setup.bash
source ~/ros2_ws/install/setup.bash”…”�”}”hj
sbah}”(h ]”h"]”h$]”h&]”h(]”Œlanguage”Œbash”Œ	xml:space”Œpreserve”uh*j
hhñhhhh+hKubeh}”(h ]”Œ!step-1-source-ros-2-and-workspace”ah"]”h$]”Œ"step 1: source ros 2 and workspace”ah&]”h(]”uh*h	hKhhàhhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒStep 2: Launch the Camera Node”h]”hŒStep 2: Launch the Camera Node”…”�”}”(hj/
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhj,
hh+ubhV)�”}”(hhh]”h[)�”}”(hhh]”h>)�”}”(hŒ
On terminal 1”h]”hŒ
On terminal 1”…”�”}”(hjC
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h=hKhj@
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hZhKhj=
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hUhKhj,
hhhh+ubj
)�”}”(hŒ¿. ./install/setup.bash
ros2 run orbbec_camera list_devices_node #Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table”h]”hŒ¿. ./install/setup.bash
ros2 run orbbec_camera list_devices_node #Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table”…”�”}”hj]
sbah}”(h ]”h"]”h$]”h&]”h(]”Œlanguage”Œbash”j"
j#
uh*j
hj,
hhhh+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 ”…”�”}”(hjm
hhhNhNubh)�”}”(hŒ
serial number”h]”hŒ
serial number”…”�”}”(hju
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h~hjm
hhhh+hKubhŒ
:”…”�”}”(hjm
hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h=hK#hj,
hhhh+ubj
)�”}”(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>”…”�”}”hj�
sbah}”(h ]”h"]”h$]”h&]”h(]”Œlanguage”Œbash”j"
j#
uh*j
hj,
hhhh+hKubeh}”(h ]”Œstep-2-launch-the-camera-node”ah"]”h$]”Œstep 2: launch the camera node”ah&]”h(]”uh*h	hKhhàhhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒStep 3: Visualize in RViz2”h]”hŒStep 3: Visualize in RViz2”…”�”}”(hj¨
hhhNhNubah}”(h ]”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&]”h(]”uh*h=hK+hj¥
hhhh+ubhV)�”}”(hhh]”h[)�”}”(hhh]”h>)�”}”(hŒ
On terminal 2”h]”hŒ
On terminal 2”…”�”}”(hjÊ
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h=hK-hjÇ
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hZhK-hjÄ
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hUhK-hj¥
hhhh+ubj
)�”}”(hŒrviz2”h]”hŒrviz2”…”�”}”hjä
sbah}”(h ]”h"]”h$]”h&]”h(]”Œlanguage”Œbash”j"
j#
uh*j
hj¥
hhhh+hKubhV)�”}”(hhh]”(h[)�”}”(hhh]”h>)�”}”(hŒ;Add an Image display, set topic to /camera/color/image_raw.”h]”(hŒAdd an ”…”�”}”(hjú
hhhNhNubh)�”}”(hŒImage”h]”hŒImage”…”�”}”(hjhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h~hjú
hhhh+hKubhŒ display, set topic to ”…”�”}”(hjú
hhhNhNubhŒliteral”“”)�”}”(hŒ/camera/color/image_raw”h]”hŒ/camera/color/image_raw”…”�”}”(hjhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*jhjú
hhhh+hKubhŒ
.”…”�”}”(hjú
hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h=hK3hj÷
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hZhK3hjô
hhhh+ubh[)�”}”(hhh]”h>)�”}”(hŒ6Add another Image display for /camera/depth/image_raw.”h]”(hŒAdd another ”…”�”}”(hj7hhhNhNubh)�”}”(hŒImage”h]”hŒImage”…”�”}”(hj?hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h~hj7hhhh+hKubhŒ
 display for ”…”�”}”(hj7hhhNhNubj)�”}”(hŒ/camera/depth/image_raw”h]”hŒ/camera/depth/image_raw”…”�”}”(hjQhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*jhj7hhhh+hKubhŒ
.”…”�”}”(hj7hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h=hK4hj4hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hZhK4hjô
hhhh+ubh[)�”}”(hhh]”h>)�”}”(hŒ?Optionally, add a PointCloud2 display for /camera/depth/points.”h]”(hŒOptionally, add a ”…”�”}”(hjrhhhNhNubh)�”}”(hŒPointCloud2”h]”hŒPointCloud2”…”�”}”(hjzhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h~hjrhhhh+hKubhŒ
 display for ”…”�”}”(hjrhhhNhNubj)�”}”(hŒ/camera/depth/points”h]”hŒ/camera/depth/points”…”�”}”(hjŒhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*jhjrhhhh+hKubhŒ
.”…”�”}”(hjrhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*h=hK5hjohhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hZhK5hjô
hhhh+ubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hUhK3hj¥
hhhh+ubh>)�”}”(hŒOYou should now see the color stream, depth stream, and 3D point cloud in RViz2.”h]”hŒOYou should now see the color stream, depth stream, and 3D point cloud in RViz2.”…”�”}”(hj°hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h=hK7hj¥
hhhh+ubeh}”(h ]”Œstep-3-visualize-in-rviz2”ah"]”h$]”Œstep 3: visualize in rviz2”ah&]”h(]”uh*h	hK)hhàhhhh+ubeh}”(h ]”Œ#build-your-first-camera-application”ah"]”h$]”Œ#build your first camera application”ah&]”h(]”uh*h	hKhhhhhh+ubhÖ)�”}”(hhh]”h}”(h ]”h"]”h$]”h&]”h(]”uh*hÕhhhhhh+hKubh
)�”}”(hhh]”(h)�”}”(hŒSample Features”h]”hŒSample Features”…”�”}”(hjÚhhhNhNubah}”(h ]”h"]”h$]”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:”…”�”}”(hjèhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*h=hK=hj×hhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒ,List available topics / services/ parameters”h]”hŒ,List available topics / services/ parameters”…”�”}”(hjùhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhK?hjöhh+ubj
)�”}”(hŒ1ros2 topic list
ros2 service list
ros2 param list”h]”hŒ1ros2 topic list
ros2 service list