<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
</ul>
</li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<liclass="toctree-l4"><aclass="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>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<liclass="toctree-l2"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<h1><spanclass="section-number">6.1. </span>Introduction<aclass="headerlink"href="#introduction"title="Link to this heading"></a></h1>
<p>This section introduces the benchmark tool, explaining its purpose, features, and what it can help you measure.</p>
<sectionid="common-benchmark-node">
<h2><spanclass="section-number">6.1.1. </span>common benchmark node<aclass="headerlink"href="#common-benchmark-node"title="Link to this heading"></a></h2>
<p><codeclass="docutils literal notranslate"><spanclass="pre">common_benchmark_node.py</span></code> is a tool for monitoring the performance of Orbbec cameras running in a ROS environment. It collects and records key camera metrics such as frame rate, latency, system resource usage, and packet loss rate in real time, helping users evaluate the stability and performance of camera nodes (updated once per second).</p>
<p><strong>Features</strong></p>
<ulclass="simple">
<li><p>Measure published image frame rate and latency (current, min, max, average)</p></li>
<li><p>Monitor the camera node’s CPU/ARM usage (current, min, max, average)</p></li>
<li><p>Track frame drop rate (publisher) and packet loss rate (subscriber)</p></li>
<li><p>Print real-time statistics (1 Hz) to the terminal and save results to a CSV file</p></li>
<li><p>Support configurable runtime duration and CSV output path</p></li>
</ul>
<p><strong>Example</strong></p>
<p>In ROS1, both frame drop rate and packet loss rate can be measured, while in ROS2, the header lacks the <codeclass="docutils literal notranslate"><spanclass="pre">seq</span></code> field, so only the publisher-side frame drop rate is calculated.</p>
<h2><spanclass="section-number">6.1.2. </span>service benchmark node<aclass="headerlink"href="#service-benchmark-node"title="Link to this heading"></a></h2>
<p>The <codeclass="docutils literal notranslate"><spanclass="pre">service_benchmark_node</span></code> tool is used to monitor the performance of service calls. It can measure the success rate of service calls and the time required to execute service.</p>
<p><strong>Features</strong></p>
<ulclass="simple">
<li><p>Benchmark a single service call, measuring latency and success rate</p></li>
<li><p>Benchmark multiple services as defined in a YAML configuration file</p></li>
<li><p>Optionally save benchmark results to a CSV file</p></li>
