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OrbbecSDK V2 ROS2 封装
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< li class = "toctree-l1" >< a class = "reference internal" href = "../1_overview/overview.html" > 1. 概述</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../1_overview/introduction.html" > 1.1. 引言</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#id2" > 1.1.1. 支持的硬件产品</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#orbbec" > 1.1.2. Orbbec 相机规格书</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/introduction.html#id3" > 1.1.3. 支持的平台</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html" > 1.2. Orbbec SDK 概述</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#id1" > 1.2.1. 术语</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2" > 1.2.2. Orbbec SDK v2 架构概述</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#sdk" > 1.2.3. SDK 概念概述</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../1_overview/orbbecsdk_overview.html#id2" > 1.2.4. SDK 编程模型</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../2_installation/installation.html" > 2. 安装</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../2_installation/build_the_package.html" > 2.1. 从源码构建</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#id2" > 2.1.1. 环境配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../2_installation/build_the_package.html#linux-ros2" > 2.1.2. Linux ROS2 包装器编译</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../2_installation/registration_script.html" > 2.2. 注册脚本（必需）</ a ></ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../3_quickstarts/quickstarts.html" > 3. 快速开始</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html" > 3.1. ROS 包快速入门</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id1" > 3.1.1. 简介</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id2" > 3.1.2. 构建您的第一个相机应用</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#ros-2" > 3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id3" > 3.1.2.2. 步骤 2：启动相机节点</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#rviz2" > 3.1.2.3. 步骤 3：在 RViz2 中可视化</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id4" > 3.1.3. 示例功能</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id5" > 3.1.3.1. 列出可用的话题/服务/参数</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id6" > 3.1.3.2. 回显话题</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#id7" > 3.1.3.3. 调用服务</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../3_quickstarts/quickstart.html#rosbag2" > 3.1.3.4. 使用 rosbag2 录制</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html" > 3.2. OrbbecViewer 快速入门</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id1" > 3.2.1. 下载</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id2" > 3.2.2. 连接设备</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id3" > 3.2.3. 相机控制</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../3_quickstarts/orbbecviewer.html#id4" > 3.2.4. 设备信息和固件升级</ a ></ li >
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< li class = "toctree-l1 current" >< a class = "reference internal" href = "application_guide.html" > 4. 应用指南</ a >< ul class = "current" >
< li class = "toctree-l2" >< a class = "reference internal" href = "launch_parameters.html" > 4.1. 启动参数</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#id2" > 4.1.1. 核心与数据流配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#id3" > 4.1.2. 传感器控制</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id4" > 4.1.2.1. 彩色流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id5" > 4.1.2.2. 深度流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id6" > 4.1.2.3. 红外流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#ldp" > 4.1.2.4. 激光 / LDP</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#id7" > 4.1.3. 设备、同步与高级功能</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id8" > 4.1.3.1. 多相机同步</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id9" > 4.1.3.2. 网络相机</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id10" > 4.1.3.3. 设备特定</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id11" > 4.1.3.4. 视差</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#ae" > 4.1.3.5. 交错AE模式</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id12" > 4.1.3.6. 相机内同步</ a ></ li >
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</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#id13" > 4.1.4. 基础与通用参数</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id14" > 4.1.4.1. 固件与后端</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#tf" > 4.1.4.2. TF、外参与校准</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id15" > 4.1.4.3. 时间同步</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id16" > 4.1.4.4. 日志与诊断</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "launch_parameters.html#id17" > 4.1.4.5. 其他</ a ></ li >
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</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#imu" > 4.1.5. IMU</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "launch_parameters.html#id18" > 4.1.6. 深度滤波器</ a ></ li >
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</ li >
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< li class = "toctree-l2 current" >< a class = "current reference internal" href = "#" > 4.2. 所有可用的相机控制服务</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id2" > 4.2.1. 数据流控制</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "#id3" > 4.2.1.1. 彩色流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#id4" > 4.2.1.2. 深度流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#id5" > 4.2.1.3. 红外流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#id6" > 4.2.1.4. 所有数据流</ a ></ li >
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</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "#id7" > 4.2.2. 传感器与发射器控制</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id8" > 4.2.3. 设备信息与管理</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id9" > 4.2.4. 同步与触发</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id10" > 4.2.5. 深度滤波器配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id11" > 4.2.6. 数据捕获与校准管理</ a ></ li >
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</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "topics.html" > 4.3. 可用话题</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "topics.html#id2" > 4.3.1. 图像流</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "topics.html#id3" > 4.3.2. 点云话题</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "topics.html#imu" > 4.3.3. IMU话题</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "topics.html#id4" > 4.3.4. 设备状态与诊断</ a ></ li >
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</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "coordinate_and_tf.html" > 4.4. ROS2机器人坐标系 vs 相机光学坐标系</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "coordinate_and_tf.html#ros2-tf" > 4.4.1. ROS2 TF工具的使用</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "coordinate_and_tf.html#tf" > 4.4.1.1. 查看TF树结构</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "coordinate_and_tf.html#rviz2tf" > 4.4.1.2. 使用rviz2可视化TF树</ a ></ li >
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</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "coordinate_and_tf.html#id1" > 4.4.2. 相机TF计算和发布机制</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "coordinate_and_tf.html#obcameranode-calcandpublishstatictransform" > 4.4.2.1. 核心函数：< code class = "docutils literal notranslate" >< span class = "pre" > OBCameraNode::calcAndPublishStaticTransform()</ span ></ code ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "coordinate_and_tf.html#id2" > 4.4.2.2. 函数解析</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "coordinate_and_tf.html#id3" > 4.4.3. 相机传感器结构</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "coordinate_and_tf.html#abtf" > 4.4.4. 从坐标系A到坐标系B的TF变换：</ a ></ li >
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</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "compressed_image.html" > 4.5. 压缩图像</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "point_cloud.html" > 4.6. 在ROS 2中启用和可视化点云</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "point_cloud.html#id1" > 4.6.1. 启用深度点云</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "point_cloud.html#id2" > 4.6.1.1. 启用深度点云的命令</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "point_cloud.html#rviz2" > 4.6.1.2. 在RViz2中可视化深度点云</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "point_cloud.html#id3" > 4.6.2. 启用彩色点云</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "point_cloud.html#id4" > 4.6.2.1. 启用彩色点云的命令</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "point_cloud.html#id5" > 4.6.2.2. 在RViz2中可视化彩色点云</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l1" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html" > 5. 高级指南</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id2" > 5.1. 性能与优化</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html" > 5.1.1. 使用Orbbec ROS包降低CPU使用率</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#cpu" > 5.1.1.1. 降低CPU使用率的推荐设置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id1" > 5.1.1.2. 用于测试的启动文件</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id2" > 5.1.1.3. 测试环境</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id3" > 5.1.1.4. 测试设置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id4" > 5.1.1.5. 测试结果</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/lower_cpu_usage.html#id5" > 5.1.1.6. 进一步优化</ a ></ li >
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</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html" > 5.1.2. 高效的进程内通信：</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html#id2" > 5.1.2.1. 简介</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/efficient_intra_process_communication.html#id3" > 5.1.2.2. 示例</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html" > 5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html#id1" > 5.1.3.1. 调整系统参数</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/performance/fastdds_tuning.html#fast-dds" > 5.1.3.2. Fast DDS配置</ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id3" > 5.2. 多相机</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html" > 5.2.1. 多相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html#id2" > 5.2.1.1. 多相机无数据流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera.html#id3" > 5.2.1.2. 多相机图像话题帧率过低</ a ></ li >
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</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html" > 5.2.2. 多相机同步说明</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#id2" > 5.2.2.1. 设置说明</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2" > 5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#id3" > 5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced.html#id4" > 5.2.2.4. 运行以下命令启动多相机同步</ a ></ li >
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</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html" > 5.2.3. 多相机同步验证工具</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2" > 5.2.3.1. 目录结构</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3" > 5.2.3.2. 运行准备</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4" > 5.2.3.3. 运行此示例</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5" > 5.2.3.4. 需要更改的文件</ a ></ li >
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</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html" > 5.2.4. GMSL 相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id1" > 5.2.4.1. 单个 GMSL 相机</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id2" > 5.2.4.2. 多个 GMSL 相机</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id3" > 5.2.4.3. 多个 GMSL 相机同步</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/multi_camera/gmsl_camera.html#id4" > 5.2.4.4. GMSL 相机的使用限制</ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l2" >< a class = "reference internal" href = "../5_advanced_guide/advanced_guide.html#id4" > 5.3. 配置与模式</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html" > 5.3.1. 在 ROS 2 中对齐深度到彩色</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#id1" > 5.3.1.1. 对齐和查看深度和彩色图像的命令</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#rviz2" > 5.3.1.2. 在 RViz2 中选择话题</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/align_depth_color.html#id2" > 5.3.1.3. 深度到彩色叠加示例</ a ></ li >
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</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html" > 5.3.2. 深度 NFOV 和 WFOV 模式配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/depth_work_mode_switch.html" > 5.3.3. 深度工作模式切换</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html" > 5.3.4. 视差搜索偏移</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#id2" > 5.3.4.1. 功能介绍</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#id3" > 5.3.4.2. 参数介绍</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/disparity_search_offset.html#id4" > 5.3.4.3. 运行启动文件</ a ></ li >
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</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html" > 5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#id1" > 5.3.5.1. 参数介绍</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#id2" > 5.3.5.2. 运行启动文件</ a ></ li >
2025-09-26 06:11:30 +00:00
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae" > 5.3.5.3. Multi_camera_synced + Interleave_ae</ a ></ li >
</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/predefined_presets.html" > 5.3.6. 预定义预设</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html" > 5.3.7. 网络相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le" > 5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#set-device-ip" > 5.3.7.2. set_device_ip 工具</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../5_advanced_guide/configuration/net_camera.html#ip" > 5.3.7.3. 强制 IP 功能</ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l1" >< a class = "reference internal" href = "../6_benchmark/benchmark.html" > 6. 性能基准测试</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/introduction.html" > 6.1. 介绍</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/introduction.html#id2" > 6.1.1. 通用基准测试节点</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/introduction.html#id3" > 6.1.2. 服务基准测试节点</ a ></ li >
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</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html" > 6.2. 性能基准测试使用</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#id2" > 6.2.1. 使用通用基准测试节点</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#id3" > 6.2.2. 使用服务基准测试节点</ a >< ul >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#ros2-c" > 6.2.2.1. ROS2 C++</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#ros2-python" > 6.2.2.2. ROS2 Python</ a ></ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/benchmark_usage.html#yaml" > 6.2.2.3. < strong > 示例 YAML 配置</ strong ></ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html" > 6.3. 性能基准测试数据</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html#id2" > 6.3.1. 通用基准测试数据</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/benchmark_data.html#id3" > 6.3.2. 服务基准测试数据</ a ></ li >
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</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l2" >< a class = "reference internal" href = "../6_benchmark/othertools.html" > 6.4. 其他工具</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../6_benchmark/othertools.html#ob-benchmark" > 6.4.1. Ob_benchmark 工具</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#start-benchmark-params-json" > 6.4.1.1. 工具配置 (start_benchmark_params.json)</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#id2" > 6.4.1.2. 相机配置（启动文件）</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#id3" > 6.4.1.3. 运行 ob_benchmark 工具</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../6_benchmark/othertools.html#id4" > 6.4.1.4. 输出数据文件</ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
</ ul >
</ li >
2025-10-22 03:11:03 +00:00
< li class = "toctree-l1" >< a class = "reference internal" href = "../7_developer_guide/developer_guide.html" > 7. 开发者指南</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html" > 7.1. 从 main 分支迁移到开源 v2-main 分支</ a >< ul >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id1" > 7.1.1. 引言</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id2" > 7.1.2. 从 main 迁移到 v2-main 的优势</ a >< ul >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id3" > 7.1.2.1. < strong > 全面的设备支持</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id4" > 7.1.2.2. < strong > 透明性和可扩展性</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id5" > 7.1.2.3. 维护和更新优势</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id6" > 7.1.2.4. < strong > 社区和生态系统支持</ strong ></ a ></ li >
</ ul >
</ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id7" > 7.1.3. main 和 v2-main 分支的比较</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id8" > 7.1.3.1. < strong > 启动文件差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id9" > 7.1.3.2. < strong > 参数差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id10" > 7.1.3.3. < strong > 话题差异</ strong ></ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../7_developer_guide/migration_guide.html#id11" > 7.1.3.4. < strong > 服务差异</ strong ></ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html" > 7.2. 构建 Debian 软件包</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#id1" > 7.2.1. 准备环境</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#ros" > 7.2.2. 配置 ROS 依赖项</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../7_developer_guide/building_a_Debian_Package.html#id2" > 7.2.3. 构建软件包</ a ></ li >
</ ul >
</ li >
</ ul >
</ li >
< li class = "toctree-l1" >< a class = "reference internal" href = "../8_FAQ/FAQ.html" > 8. 常见问题</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id2" > 8.1. 意外崩溃</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id3" > 8.2. 多相机无数据流</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id4" > 8.3. 其他故障排除</ a ></ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "../8_FAQ/FAQ.html#id5" > 8.4. 为什么有这么多启动文件？</ a ></ li >
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< li class = "breadcrumb-item" >< a href = "application_guide.html" >< span class = "section-number" > 4. </ span > 应用指南</ a ></ li >
< li class = "breadcrumb-item active" >< span class = "section-number" > 4.2. </ span > 所有可用的相机控制服务</ li >
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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 >< span class = "section-number" > 4.2. </ span > 所有可用的相机控制服务< a class = "headerlink" href = "#id1" title = "Link to this heading" > </ a ></ h1 >
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< blockquote >
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< div >< p >< strong > 注意：</ strong > 与特定数据流相关的服务（例如 < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_*</ span ></ code > ）仅在启动文件中启用该数据流时可用（例如 < code class = "docutils literal notranslate" >< span class = "pre" > enable_color:=true</ span ></ code > ）。</ p >
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</ div ></ blockquote >
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< h2 >< span class = "section-number" > 4.2.1. </ span > 数据流控制< a class = "headerlink" href = "#id2" title = "Link to this heading" > </ a ></ h2 >
< section id = "id3" >
< h3 >< span class = "section-number" > 4.2.1.1. </ span > 彩色流< a class = "headerlink" href = "#id3" title = "Link to this heading" > </ a ></ h3 >
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< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/toggle_color</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/toggle_color< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_color_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_color_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_color_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_color_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_auto_exposure</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_auto_exposure< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 1}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 64}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_mirror</ span ></ code > , < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_flip</ span ></ code > , < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_rotation</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_mirror< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_flip< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_rotation< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 180}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_color_ae_roi</ span ></ code ></ p >
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< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # data_param: [左, 右, 上, 下]</ span >
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ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_color_ae_roi< span class = "w" > </ span > orbbec_camera_msgs/srv/SetArrays< span class = "w" > </ span >< span class = "s1" > ' {data_param: [0,1279,0,719]}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
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< section id = "id4" >
< h3 >< span class = "section-number" > 4.2.1.2. </ span > 深度流< a class = "headerlink" href = "#id4" title = "Link to this heading" > </ a ></ h3 >
2025-09-15 06:27:21 +00:00
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/toggle_depth</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/toggle_depth< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_depth_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_depth_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_depth_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_depth_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_auto_exposure</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_auto_exposure< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 3000}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 64}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_mirror</ span ></ code > , < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_flip</ span ></ code > , < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_rotation</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_mirror< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_flip< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_rotation< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 180}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_depth_ae_roi</ span ></ code ></ p >
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< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # data_param: [左, 右, 上, 下]</ span >
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ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_depth_ae_roi< span class = "w" > </ span > orbbec_camera_msgs/srv/SetArrays< span class = "w" > </ span >< span class = "s1" > ' {data_param: [0,847,0,479]}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
2025-10-22 03:11:03 +00:00
< section id = "id5" >
< h3 >< span class = "section-number" > 4.2.1.3. </ span > 红外流< a class = "headerlink" href = "#id5" title = "Link to this heading" > </ a ></ h3 >
2025-09-15 06:27:21 +00:00
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/toggle_ir</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/toggle_ir< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_ir_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_ir_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_ir_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_ir_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_ir_auto_exposure</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_ir_auto_exposure< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_ir_exposure</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_ir_gain</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_ir_exposure< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 3000}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_ir_gain< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 64}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/switch_ir</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/switch_ir< span class = "w" > </ span > orbbec_camera_msgs/srv/SetString< span class = "w" > </ span >< span class = "s1" > ' {data: left}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
2025-10-22 03:11:03 +00:00
< section id = "id6" >
< h3 >< span class = "section-number" > 4.2.1.4. </ span > 所有数据流< a class = "headerlink" href = "#id6" title = "Link to this heading" > </ a ></ h3 >
2025-09-15 06:27:21 +00:00
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_streams_enable</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_streams_enable</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_streams_enable< span class = "w" > </ span > orbbec_camera_msgs/srv/GetBool< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_streams_enable< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: false}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
</ section >
2025-10-22 03:11:03 +00:00
< section id = "id7" >
< h2 >< span class = "section-number" > 4.2.2. </ span > 传感器与发射器控制< a class = "headerlink" href = "#id7" title = "Link to this heading" > </ a ></ h2 >
2025-09-15 06:27:21 +00:00
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_auto_white_balance</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_auto_white_balance</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_auto_white_balance< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_auto_white_balance< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_white_balance</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_white_balance</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_white_balance< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 2800}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_white_balance< span class = "w" > </ span > orbbec_camera_msgs/srv/GetInt32< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_laser_enable</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_laser_enable< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_ldp_enable</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_ldp_status</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_ldp_enable< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_ldp_status< span class = "w" > </ span > orbbec_camera_msgs/srv/GetBool< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_fan_work_mode</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_fan_work_mode< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 0}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_floor_enable</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_floor_enable< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
2025-10-22 03:11:03 +00:00
< section id = "id8" >
< h2 >< span class = "section-number" > 4.2.3. </ span > 设备信息与管理< a class = "headerlink" href = "#id8" title = "Link to this heading" > </ a ></ h2 >
2025-09-15 06:27:21 +00:00
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_device_info</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_device_info< span class = "w" > </ span > orbbec_camera_msgs/srv/GetDeviceInfo
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_sdk_version</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_sdk_version< span class = "w" > </ span > orbbec_camera_msgs/srv/GetString
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/reboot_device</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/reboot_device< span class = "w" > </ span > std_srvs/srv/Empty< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
2025-10-22 03:11:03 +00:00
< section id = "id9" >
< h2 >< span class = "section-number" > 4.2.4. </ span > 同步与触发< a class = "headerlink" href = "#id9" title = "Link to this heading" > </ a ></ h2 >
2025-09-15 06:27:21 +00:00
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/send_software_trigger</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/send_software_trigger< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
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</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_reset_timestamp</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # 仅在time_domain参数设置为device时可用</ span >
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ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_reset_timestamp< span class = "w" > </ span > std_srvs/srv/SetBool< span class = "w" > </ span >< span class = "s1" > ' {data: true}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_sync_interleaverlaser</ span ></ code ></ p >
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< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # 仅在interleave_ae_mode为' laser' 且interleave_frame_enable为true时可用</ span >
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ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_sync_interleaverlaser< span class = "w" > </ span > orbbec_camera_msgs/srv/SetInt32< span class = "w" > </ span >< span class = "s1" > ' {data: 0}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
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< section id = "id10" >
< h2 >< span class = "section-number" > 4.2.5. </ span > 深度滤波器配置< a class = "headerlink" href = "#id10" title = "Link to this heading" > </ a ></ h2 >
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< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_filter</ span ></ code ></ p >
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< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # 设置DecimationFilter</ span >
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ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_filter< span class = "w" > </ span > orbbec_camera_msgs/srv/SetFilter< span class = "w" > </ span >< span class = "s1" > ' {filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}' </ span >
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< span class = "c1" > # 设置SpatialAdvancedFilter</ span >
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ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_filter< span class = "w" > </ span > orbbec_camera_msgs/srv/SetFilter< span class = "w" > </ span >< span class = "s1" > ' {filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
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< section id = "id11" >
< h2 >< span class = "section-number" > 4.2.6. </ span > 数据捕获与校准管理< a class = "headerlink" href = "#id11" title = "Link to this heading" > </ a ></ h2 >
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< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/save_images</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/save_images< span class = "w" > </ span > std_srvs/srv/Empty< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/save_point_cloud</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/save_point_cloud< span class = "w" > </ span > std_srvs/srv/Empty< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
< blockquote >
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< div >< p >< strong > 注意</ strong > ：以下服务目前仅支持435Le模块。每个服务一次只能存储一组数据或字符串。</ p >
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</ div ></ blockquote >
< ul >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/write_customer_data</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/read_customer_data</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/write_customer_data< span class = "w" > </ span > orbbec_camera_msgs/srv/SetString< span class = "w" > </ span >< span class = "s1" > ' {data: " string" }' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/read_customer_data< span class = "w" > </ span > orbbec_camera_msgs/srv/GetString< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > /camera/set_user_calib_params</ span ></ code > & < code class = "docutils literal notranslate" >< span class = "pre" > /camera/get_user_calib_params</ span ></ code ></ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/set_user_calib_params< span class = "w" > </ span > orbbec_camera_msgs/srv/SetUserCalibParams< span class = "w" > </ span >< span class = "se" > \</ span >
< span class = "s1" > ' {k: [614.9613647460938, 0.0, 634.91552734375,</ span >
< span class = "s1" > 0.0, 614.65771484375, 391.407470703125,</ span >
< span class = "s1" > 0.0, 0.0, 1.0],</ span >
< span class = "s1" > d: [-0.03131488710641861,</ span >
< span class = "s1" > 0.032955970615148544,</ span >
< span class = "s1" > 9.096559369936585e-05,</ span >
< span class = "s1" > -0.0003368517500348389,</ span >
< span class = "s1" > -0.01115430984646082,</ span >
< span class = "s1" > 0.0, 0.0, 0.0],</ span >
< span class = "s1" > rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,</ span >
< span class = "s1" > -0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,</ span >
< span class = "s1" > 0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],</ span >
< span class = "s1" > translation: [-0.023897956848144532,</ span >
< span class = "s1" > -9.439220279455185e-05,</ span >
< span class = "s1" > -6.804073229432106e-06]}' </ span >
ros2< span class = "w" > </ span > service< span class = "w" > </ span > call< span class = "w" > </ span > /camera/get_user_calib_params< span class = "w" > </ span > orbbec_camera_msgs/srv/GetUserCalibParams< span class = "w" > </ span >< span class = "s1" > ' {}' </ span >
</ pre ></ div >
</ div >
</ li >
</ ul >
</ section >
</ section >
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