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OrbbecSDK V2 ROS2 封装
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< li class = "toctree-l1" >< a class = "reference internal" href = "../camera_devices/index.html" > Camera Devices</ a >< ul >
< li class = "toctree-l2" >< a class = "reference internal" href = "../camera_devices/1_overview/overview.html" > 1. 概述</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/1_overview/introduction.html" > 1.1. 引言</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/1_overview/introduction.html#id2" > 1.1.1. 支持的硬件产品</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/1_overview/introduction.html#orbbec" > 1.1.2. Orbbec 相机规格书</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/1_overview/introduction.html#id3" > 1.1.3. 支持的平台</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/1_overview/orbbecsdk_overview.html" > 1.2. Orbbec SDK 概述</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/1_overview/orbbecsdk_overview.html#id1" > 1.2.1. 术语</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/1_overview/orbbecsdk_overview.html#orbbec-sdk-v2" > 1.2.2. Orbbec SDK v2 架构概述</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/1_overview/orbbecsdk_overview.html#sdk" > 1.2.3. SDK 概念概述</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/1_overview/orbbecsdk_overview.html#id2" > 1.2.4. SDK 编程模型</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../camera_devices/2_installation/installation.html" > 2. 安装</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/2_installation/build_the_package.html" > 2.1. 环境配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/2_installation/build_the_package.html#id2" > 2.2. 二进制安装</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/2_installation/build_the_package.html#id3" > 2.3. 从源码构建</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/2_installation/registration_script.html" > 2.4. 注册脚本（必需）</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/2_installation/registration_script.html#id2" > 2.4.1. 二进制安装</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/2_installation/registration_script.html#id3" > 2.4.2. 从源码构建</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/quickstarts.html" > 3. 快速开始</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/quickstart.html" > 3.1. ROS 包快速入门</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/quickstart.html#id1" > 3.1.1. 简介</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/quickstart.html#id2" > 3.1.2. 构建您的第一个相机应用</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/quickstart.html#id3" > 3.1.2.2. 步骤 2：启动相机节点</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l4" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/quickstart.html#id4" > 3.1.3. 示例功能</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/quickstart.html#id6" > 3.1.3.2. 回显话题</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/quickstart.html#id7" > 3.1.3.3. 调用服务</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/quickstart.html#rosbag2" > 3.1.3.4. 使用 rosbag2 录制</ a ></ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/orbbecviewer.html" > 3.2. OrbbecViewer 快速入门</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/orbbecviewer.html#id1" > 3.2.1. 下载</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/orbbecviewer.html#id2" > 3.2.2. 连接设备</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/3_quickstarts/orbbecviewer.html#id3" > 3.2.3. 相机控制</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/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-l2" >< a class = "reference internal" href = "../camera_devices/4_application_guide/application_guide.html" > 4. 应用指南</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html" > 4.1. 启动参数</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id2" > 4.1.1. 核心与数据流配置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id3" > 4.1.2. 传感器控制</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id4" > 4.1.2.1. 彩色流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id5" > 4.1.2.2. 深度流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id6" > 4.1.2.3. 红外流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#ldp" > 4.1.2.4. 激光 / LDP</ a ></ li >
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</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id7" > 4.1.3. 设备、同步与高级功能</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id8" > 4.1.3.1. 多相机同步</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id9" > 4.1.3.2. 网络相机</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id10" > 4.1.3.3. 设备特定</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id11" > 4.1.3.4. 视差</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#ae" > 4.1.3.5. 交错AE模式</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/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-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id13" > 4.1.4. 基础与通用参数</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id14" > 4.1.4.1. 固件与后端</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#tf" > 4.1.4.2. TF、外参与校准</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id15" > 4.1.4.3. 时间同步</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id16" > 4.1.4.4. 日志与诊断</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id17" > 4.1.4.5. 其他</ a ></ li >
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</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#imu" > 4.1.5. IMU</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/launch_parameters.html#id18" > 4.1.6. 深度滤波器</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html" > 4.2. 可用服务</ a >< ul >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id2" > 4.2.1. 数据流控制</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id3" > 4.2.1.1. 彩色流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id4" > 4.2.1.2. 深度流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id5" > 4.2.1.3. 红外流</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id6" > 4.2.1.4. 所有数据流</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id7" > 4.2.2. 传感器与发射器控制</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id8" > 4.2.3. 设备信息与管理</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id9" > 4.2.4. 同步与触发</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id10" > 4.2.5. 深度滤波器配置</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id11" > 4.2.6. 数据捕获与校准管理</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/services.html#id12" > 4.2.7. 点云下采样</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/4_application_guide/topics.html" > 4.3. 可用话题</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/topics.html#id2" > 4.3.1. 图像流</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/topics.html#id3" > 4.3.2. 点云话题</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/topics.html#imu" > 4.3.3. IMU话题</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/topics.html#id4" > 4.3.4. 设备状态与诊断</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html" > 4.4. 坐标系和 TF 变换</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html#id1" > 4.4.1. 相机传感器结构</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html#abtf" > 4.4.2. 从坐标系A到坐标系B的TF变换：</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html#ros2-vs" > 4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html#ros2-tf" > 4.4.4. ROS2 TF工具的使用</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html#id2" > 4.4.4.1. 查看TF树结构</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html#rviz2tf" > 4.4.4.2. 使用rviz2可视化TF树</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html#id3" > 4.4.5. 相机TF计算和发布机制</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform" > 4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/coordinate_and_tf.html#id4" > 4.4.5.2. 函数解析</ a ></ li >
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</ ul >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/4_application_guide/compressed_image.html" > 4.5. 压缩图像</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/4_application_guide/point_cloud.html" > 4.6. 在ROS 2中启用和可视化点云</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/point_cloud.html#id1" > 4.6.1. 启用深度点云</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/point_cloud.html#id2" > 4.6.1.1. 启用深度点云的命令</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/point_cloud.html#rviz2" > 4.6.1.2. 在RViz2中可视化深度点云</ a ></ li >
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</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/4_application_guide/point_cloud.html#id3" > 4.6.2. 启用彩色点云</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/point_cloud.html#id4" > 4.6.2.1. 启用彩色点云的命令</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/4_application_guide/point_cloud.html#id5" > 4.6.2.2. 在RViz2中可视化彩色点云</ a ></ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/advanced_guide.html" > 5. 高级指南</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/advanced_guide.html#id2" > 5.1. 性能与优化</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id2" > 5.1.1.3. 测试环境</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id3" > 5.1.1.4. 测试设置</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id4" > 5.1.1.5. 测试结果</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id5" > 5.1.1.6. 进一步优化</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#id2" > 5.1.2.1. 简介</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l4" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#id1" > 5.1.3.1. 调整系统参数</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l3" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/advanced_guide.html#id3" > 5.2. 多相机</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/multi_camera/multi_camera.html" > 5.2.1. 多相机</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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 >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html" > 5.2.2. 多相机同步说明</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id2" > 5.2.2.1. 设置说明</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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 >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html" > 5.2.3. 多相机同步验证节点</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2" > 5.2.3.1. 使用教程</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5" > 5.2.3.2. 必要系统配置</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html" > 5.2.4. GMSL 相机</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id1" > 5.2.4.1. 单个 GMSL 相机</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id2" > 5.2.4.2. 多个 GMSL 相机</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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 >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/advanced_guide.html#id4" > 5.3. 配置与模式</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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 >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/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-l4" >< a class = "reference internal" href = "../camera_devices/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-l4" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html" > 5.3.4. 视差搜索偏移</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id2" > 5.3.4.1. 功能介绍</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id3" > 5.3.4.2. 参数介绍</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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 >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#id1" > 5.3.5.1. 参数介绍</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#id2" > 5.3.5.2. 运行启动文件</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae" > 5.3.5.3. Multi_camera_synced + Interleave_ae</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/configuration/predefined_presets.html" > 5.3.6. 预定义预设</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/configuration/net_camera.html" > 5.3.7. 网络相机</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip" > 5.3.7.2. set_device_ip 工具</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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 >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../camera_devices/6_benchmark/benchmark.html" > 6. 性能基准测试</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/6_benchmark/introduction.html" > 6.1. 介绍</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/6_benchmark/introduction.html#id2" > 6.1.1. 通用基准测试节点</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/6_benchmark/introduction.html#id3" > 6.1.2. 服务基准测试节点</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/6_benchmark/benchmark_usage.html" > 6.2. 性能基准测试使用</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/6_benchmark/benchmark_usage.html#id2" > 6.2.1. 使用通用基准测试节点</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/6_benchmark/benchmark_usage.html#id3" > 6.2.2. 使用服务基准测试节点</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/6_benchmark/benchmark_usage.html#ros2-c" > 6.2.2.1. ROS2 C++</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/6_benchmark/benchmark_usage.html#ros2-python" > 6.2.2.2. ROS2 Python</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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 >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/6_benchmark/benchmark_data.html" > 6.3. 性能基准测试数据</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/6_benchmark/benchmark_data.html#id2" > 6.3.1. 通用基准测试数据</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/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 >
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< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/6_benchmark/othertools.html" > 6.4. 其他工具</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/6_benchmark/othertools.html#ob-benchmark" > 6.4.1. Ob_benchmark 工具</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/6_benchmark/othertools.html#id2" > 6.4.1.2. 相机配置（启动文件）</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/6_benchmark/othertools.html#id3" > 6.4.1.3. 运行 ob_benchmark 工具</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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 >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/developer_guide.html" > 7. 开发者指南</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/migration_guide.html" > 7.1. 从 main 分支迁移到开源 v2-main 分支</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/migration_guide.html#id1" > 7.1.1. 引言</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/migration_guide.html#id2" > 7.1.2. 从 main 迁移到 v2-main 的优势</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/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-l5" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/migration_guide.html#id5" > 7.1.2.3. 维护和更新优势</ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/migration_guide.html#id6" > 7.1.2.4. < strong > 社区和生态系统支持</ strong ></ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/migration_guide.html#id7" > 7.1.3. main 和 v2-main 分支的比较</ a >< ul >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/migration_guide.html#id8" > 7.1.3.1. < strong > 启动文件差异</ strong ></ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/migration_guide.html#id9" > 7.1.3.2. < strong > 参数差异</ strong ></ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/migration_guide.html#id10" > 7.1.3.3. < strong > 话题差异</ strong ></ a ></ li >
< li class = "toctree-l5" >< a class = "reference internal" href = "../camera_devices/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-l3" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/building_a_Debian_Package.html" > 7.2. 构建 Debian 软件包</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/building_a_Debian_Package.html#id1" > 7.2.1. 准备环境</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/building_a_Debian_Package.html#ros" > 7.2.2. 配置 ROS 依赖项</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "../camera_devices/7_developer_guide/building_a_Debian_Package.html#id2" > 7.2.3. 构建软件包</ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html" > 8. 常见问题</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html#id2" > 8.1. 意外崩溃</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html#id3" > 8.2. 多相机无数据流</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html#id4" > 8.3. 其他故障排除</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html#id5" > 8.4. 为什么有这么多启动文件？</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html#id6" > 8.5. 多相机连接时如何指定启动某一个相机</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html#id7" > 8.6. 多相机启动或切换流时为什么需要设置延迟？</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html#femto-bolt" > 8.7. femto bolt 深度流无数据</ a ></ li >
2026-01-13 11:20:30 +00:00
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html#id8" > 8.8. 图像未达到预设帧率</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "../camera_devices/8_FAQ/FAQ.html#id9" > 8.9. 软触发模式相关问题</ a ></ li >
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</ ul >
</ li >
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</ ul >
</ li >
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< li class = "toctree-l1 current" >< a class = "reference internal" href = "index.html" > Lidar Devices</ a >< ul class = "current" >
< li class = "toctree-l2 current" >< a class = "current reference internal" href = "#" > 1. 安装</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id2" > 1.1. 先决条件</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#deb" > 1.2. 安装deb依赖项</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#udev" > 1.3. 安装udev规则</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id3" > 1.4. 构建包</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id4" > 1.5. 启动激光雷达节点</ a ></ li >
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</ ul >
</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "#id5" > 2. 使用方法</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id6" > 2.1. 运行驱动</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id7" > 2.2. 获取已连接激光雷达的设备信息</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id8" > 2.3. 检查激光雷达支持的配置</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id9" > 2.4. 2.4 参数和配置</ a ></ li >
</ ul >
</ li >
< li class = "toctree-l2" >< a class = "reference internal" href = "#id10" > 3. 点云数据详细说明</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id11" > 3.1. 点云格式</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id12" > 3.2. 点云聚合功能</ a >< ul >
< li class = "toctree-l4" >< a class = "reference internal" href = "#id13" > 3.2.1. 功能特点：</ a ></ li >
< li class = "toctree-l4" >< a class = "reference internal" href = "#id14" > 3.2.2. 使用示例：</ a ></ li >
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</ ul >
</ li >
</ ul >
</ li >
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< li class = "toctree-l2" >< a class = "reference internal" href = "#imu" > 4. IMU数据</ a >< ul >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id15" > 4.1. IMU话题</ a ></ li >
< li class = "toctree-l3" >< a class = "reference internal" href = "#id16" > 4.2. 使用IMU数据</ a ></ li >
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</ ul >
</ li >
</ ul >
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</ li >
</ ul >
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< a href = "../../index.html" > OrbbecSDK V2 ROS2 封装</ a >
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< li class = "breadcrumb-item active" >< span class = "section-number" > 1. </ span > 安装</ li >
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< a href = "../../_sources/source/lidar_devices/lidar.md.txt" rel = "nofollow" > 查看页面源码</ a >
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< div class = "lang-switch" style = "margin:0 0 1em 0; font-size:0.9em;" >< a class = "lang-other" href = "#" > English</ a > | < a class = "lang-current" href = "#" > 中文</ a ></ div >< script >( function (){ var p = window . location . pathname ; var isEn = p . indexOf ( '/en/' ) !==- 1 && p . indexOf ( '/zh/' ) ===- 1 ; if ( p . indexOf ( '/zh/' ) !==- 1 ) isEn = false ; var other = isEn ? p . replace ( /\/en\// , '/zh/' ) : p . replace ( /\/zh\// , '/en/' ); var current = p ; var sw = document . querySelector ( '.lang-switch' ); if ( ! sw ) return ; var o = sw . querySelector ( '.lang-other' ); var c = sw . querySelector ( '.lang-current' ); if ( isEn ){ o . textContent = '中文' ; c . textContent = 'English' ; } else { o . textContent = 'English' ; c . textContent = '中文' ; } o . setAttribute ( 'href' , other ); c . setAttribute ( 'href' , current );})();</ script >< p > 本ROS2驱动支持您使用奥比中光单线/多线激光雷达。本文档提供安装说明、使用指南和其他重要信息，帮助您快速开始使用此驱动。</ p >
< section id = "id1" >
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< h1 >< span class = "section-number" > 1. </ span > 安装< a class = "headerlink" href = "#id1" title = "链接到此标题。" > </ a ></ h1 >
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< section id = "id2" >
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< h2 >< span class = "section-number" > 1.1. </ span > 先决条件< a class = "headerlink" href = "#id2" title = "链接到此标题。" > </ a ></ h2 >
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< p > 在使用OrbbecSDK ROS2 LiDAR驱动程序之前，请确保您的系统上安装了以下依赖项：</ p >
< ul class = "simple" >
< li >< p >< strong > ROS2</ strong > ： </ p >
< ul >
< li >< p > 如果您需要帮助，请参阅< a class = "reference external" href = "https://docs.ros.org/en/foxy/Installation.html" > ROS2安装指南</ a > 。</ p ></ li >
</ ul >
</ li >
</ ul >
</ section >
< section id = "deb" >
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< h2 >< span class = "section-number" > 1.2. </ span > 安装deb依赖项< a class = "headerlink" href = "#deb" title = "链接到此标题。" > </ a ></ h2 >
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< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # 假设您已经配置了ROS环境，下同</ span >
sudo< span class = "w" > </ span > apt< span class = "w" > </ span > install< span class = "w" > </ span > libgflags-dev< span class = "w" > </ span > nlohmann-json3-dev< span class = "w" > </ span >< span class = "se" > \</ span >
ros-< span class = "nv" > $ROS_DISTRO</ span > -image-transport< span class = "w" > </ span > ros-< span class = "si" > ${</ span >< span class = "nv" > ROS_DISTRO</ span >< span class = "si" > }</ span > -image-transport-plugins< span class = "w" > </ span > ros-< span class = "si" > ${</ span >< span class = "nv" > ROS_DISTRO</ span >< span class = "si" > }</ span > -compressed-image-transport< span class = "w" > </ span >< span class = "se" > \</ span >
ros-< span class = "nv" > $ROS_DISTRO</ span > -image-publisher< span class = "w" > </ span > ros-< span class = "nv" > $ROS_DISTRO</ span > -camera-info-manager< span class = "w" > </ span >< span class = "se" > \</ span >
ros-< span class = "nv" > $ROS_DISTRO</ span > -diagnostic-updater< span class = "w" > </ span > ros-< span class = "nv" > $ROS_DISTRO</ span > -diagnostic-msgs< span class = "w" > </ span > ros-< span class = "nv" > $ROS_DISTRO</ span > -statistics-msgs< span class = "w" > </ span >< span class = "se" > \</ span >
ros-< span class = "nv" > $ROS_DISTRO</ span > -backward-ros< span class = "w" > </ span > libdw-dev
</ pre ></ div >
</ div >
</ section >
< section id = "udev" >
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< h2 >< span class = "section-number" > 1.3. </ span > 安装udev规则< a class = "headerlink" href = "#udev" title = "链接到此标题。" > </ a ></ h2 >
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< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "nb" > cd</ span >< span class = "w" > </ span > ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo< span class = "w" > </ span > bash< span class = "w" > </ span > install_udev_rules.sh
sudo< span class = "w" > </ span > udevadm< span class = "w" > </ span > control< span class = "w" > </ span > --reload-rules< span class = "w" > </ span >< span class = "o" > && </ span >< span class = "w" > </ span > sudo< span class = "w" > </ span > udevadm< span class = "w" > </ span > trigger
</ pre ></ div >
</ div >
</ section >
< section id = "id3" >
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< h2 >< span class = "section-number" > 1.4. </ span > 构建包< a class = "headerlink" href = "#id3" title = "链接到此标题。" > </ a ></ h2 >
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< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "nb" > cd</ span >< span class = "w" > </ span > ~/ros2_ws/
< span class = "c1" > # 构建发布版本，默认为调试版本</ span >
colcon< span class = "w" > </ span > build< span class = "w" > </ span > --event-handlers< span class = "w" > </ span > console_direct+< span class = "w" > </ span > --cmake-args< span class = "w" > </ span > -DCMAKE_BUILD_TYPE< span class = "o" > =</ span > Release
</ pre ></ div >
</ div >
</ section >
< section id = "id4" >
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< h2 >< span class = "section-number" > 1.5. </ span > 启动激光雷达节点< a class = "headerlink" href = "#id4" title = "链接到此标题。" > </ a ></ h2 >
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< ul class = "simple" >
< li >< p > 第一个终端</ p ></ li >
</ ul >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > .< span class = "w" > </ span > ./install/setup.bash
ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > lidar.launch.py
</ pre ></ div >
</ div >
< ul class = "simple" >
< li >< p > 第二个终端</ p ></ li >
</ ul >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span > .< span class = "w" > </ span > ./install/setup.bash
rviz2
</ pre ></ div >
</ div >
< ol class = "simple" >
< li >< p > 打开Rviz2。</ p ></ li >
< li >< p > 添加 < code class = "docutils literal notranslate" >< span class = "pre" > PointCloud2</ span ></ code > 或 < code class = "docutils literal notranslate" >< span class = "pre" > LaserScan</ span ></ code > 显示。</ p ></ li >
< li >< p > 对于 < code class = "docutils literal notranslate" >< span class = "pre" > PointCloud2</ span ></ code > ，选择 < code class = "docutils literal notranslate" >< span class = "pre" > /lidar/cloud/points</ span ></ code > 话题；对于 < code class = "docutils literal notranslate" >< span class = "pre" > LaserScan</ span ></ code > ，选择 < code class = "docutils literal notranslate" >< span class = "pre" > /lidar/scan/points</ span ></ code > 话题。</ p ></ li >
< li >< p > 将 < code class = "docutils literal notranslate" >< span class = "pre" > Fixed</ span > < span class = "pre" > Frame</ span ></ code > 设置为 < code class = "docutils literal notranslate" >< span class = "pre" > lidar_lidar_frame</ span ></ code > 以正确对齐数据。</ p ></ li >
</ ol >
< ul class = "simple" >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > PointCloud2</ span ></ code > 可视化示例：</ p ></ li >
</ ul >
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< p >< img alt = "rviz2中的模块" src = "../../_images/lidar0.jpg" /></ p >
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< ul class = "simple" >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > LaserScan</ span ></ code > 可视化示例：</ p ></ li >
</ ul >
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< p >< img alt = "rviz2中的模块" src = "../../_images/lidar1.png" /></ p >
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</ section >
</ section >
< section id = "id5" >
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< h1 >< span class = "section-number" > 2. </ span > 使用方法< a class = "headerlink" href = "#id5" title = "链接到此标题。" > </ a ></ h1 >
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< section id = "id6" >
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< h2 >< span class = "section-number" > 2.1. </ span > 运行驱动< a class = "headerlink" href = "#id6" title = "链接到此标题。" > </ a ></ h2 >
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< p > 要启动驱动，请启动提供的ROS2启动文件：</ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "nb" > source</ span >< span class = "w" > </ span > install/setup.bash
< span class = "c1" > # 启动带有点云数据的驱动</ span >
ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > lidar.launch.py< span class = "w" > </ span > lidar_format:< span class = "o" > =</ span > LIDAR_POINT
< span class = "c1" > # 启动带有球面点云数据的驱动</ span >
ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > lidar.launch.py< span class = "w" > </ span > lidar_format:< span class = "o" > =</ span > LIDAR_SPHERE_POINT
< span class = "c1" > # 启动带有激光扫描数据的驱动</ span >
ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > lidar.launch.py< span class = "w" > </ span > lidar_format:< span class = "o" > =</ span > LIDAR_SCAN
< span class = "c1" > # 启动启用IMU的驱动</ span >
ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > lidar.launch.py< span class = "w" > </ span > enable_imu:< span class = "o" > =</ span >< span class = "nb" > true</ span >< span class = "w" > </ span > imu_rate:< span class = "o" > =</ span > 50hz
< span class = "c1" > # 启动同时包含点云和IMU数据的驱动</ span >
ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > lidar.launch.py< span class = "w" > </ span > lidar_format:< span class = "o" > =</ span > LIDAR_POINT< span class = "w" > </ span > enable_imu:< span class = "o" > =</ span >< span class = "nb" > true</ span >< span class = "w" > </ span > imu_rate:< span class = "o" > =</ span > 100hz
</ pre ></ div >
</ div >
< p > 此命令将启动与奥比中光激光雷达设备接口的节点。请确保在运行此命令之前正确连接激光雷达硬件。</ p >
</ section >
< section id = "id7" >
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< h2 >< span class = "section-number" > 2.2. </ span > 获取已连接激光雷达的设备信息< a class = "headerlink" href = "#id7" title = "链接到此标题。" > </ a ></ h2 >
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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
</ pre ></ div >
</ div >
< p > 此命令将列出已连接的激光雷达设备并显示其各自的IP地址和端口。您可以使用此信息配置驱动以连接到特定设备。</ p >
</ section >
< section id = "id8" >
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< h2 >< span class = "section-number" > 2.3. </ span > 检查激光雷达支持的配置< a class = "headerlink" href = "#id8" title = "链接到此标题。" > </ a ></ h2 >
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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_camera_profile_mode_node
</ pre ></ div >
</ div >
</ section >
< section id = "id9" >
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< h2 >< span class = "section-number" > 2.4. </ span > 2.4 参数和配置< a class = "headerlink" href = "#id9" title = "链接到此标题。" > </ a ></ h2 >
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< p >< code class = "docutils literal notranslate" >< span class = "pre" > lidar.launch.py</ span ></ code > 文件包含驱动的默认参数。您可以通过修改启动文件或创建自定义配置文件来自定义这些设置。关键参数包括：</ p >
< ul class = "simple" >
< li >< p >< strong > device_type</ strong > : 要启动的设备类型。可选值：< code class = "docutils literal notranslate" >< span class = "pre" > lidar</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > camera</ span ></ code > 。将此参数设置为 < code class = "docutils literal notranslate" >< span class = "pre" > lidar</ span ></ code > 启动激光雷达设备，设置为 < code class = "docutils literal notranslate" >< span class = "pre" > camera</ span ></ code > 启动摄像头设备。</ p ></ li >
< li >< p >< strong > camera_name</ strong > : 启动节点命名空间。</ p ></ li >
< li >< p >< strong > device_num</ strong > : 设备数量。如果需要启动多个设备，则必须填写此项。</ p ></ li >
< li >< p >< strong > upgrade_firmware</ strong > : 固件升级功能。输入参数是固件路径。</ p ></ li >
< li >< p >< strong > connection_delay</ strong > : 重新打开设备的延迟时间（毫秒）。在热插拔期间立即重新打开设备可能导致固件崩溃。</ p ></ li >
< li >< p >< strong > publish_tf</ strong > : 启用TF发布。</ p ></ li >
< li >< p >< strong > tf_publish_rate</ strong > : TF发布频率。</ p ></ li >
< li >< p >< strong > lidar_format</ strong > : 激光雷达的数据格式。可选值：< code class = "docutils literal notranslate" >< span class = "pre" > LIDAR_POINT</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > LIDAR_SPHERE_POINT</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > LIDAR_SCAN</ span ></ code ></ p ></ li >
< li >< p >< strong > lidar_rate</ strong > : 激光雷达的扫描频率。</ p ></ li >
< li >< p >< strong > publish_n_pkts</ strong > : 多帧数据合并发布的帧数量。范围：1-12000。仅在激光雷达格式为 < code class = "docutils literal notranslate" >< span class = "pre" > LIDAR_POINT</ span ></ code > 或 < code class = "docutils literal notranslate" >< span class = "pre" > LIDAR_SPHERE_POINT</ span ></ code > 时生效，用于累积指定数量的帧后再发布合并的点云数据。默认值：< code class = "docutils literal notranslate" >< span class = "pre" > 1</ span ></ code ></ p ></ li >
< li >< p >< strong > enable_scan_to_point</ strong > : 启用扫描数据到点云数据的转换，发布PointCloud2数据类型话题。</ p ></ li >
< li >< p >< strong > repetitive_scan_mode</ strong > : 重复扫描模式参数。</ p ></ li >
< li >< p >< strong > filter_level</ strong > : 添加过滤级别参数。</ p ></ li >
< li >< p >< strong > vertical_fov</ strong > : 垂直角度参数。</ p ></ li >
< li >< p >< strong > min_angle</ strong > : 激光雷达扫描范围的最小角度（度）（例如，< code class = "docutils literal notranslate" >< span class = "pre" > -135.0</ span ></ code > ）。默认值：< code class = "docutils literal notranslate" >< span class = "pre" > -135.0</ span ></ code ></ p ></ li >
< li >< p >< strong > max_angle</ strong > : 激光雷达扫描范围的最大角度（度）（例如，< code class = "docutils literal notranslate" >< span class = "pre" > 135.0</ span ></ code > ）。默认值：< code class = "docutils literal notranslate" >< span class = "pre" > 135.0</ span ></ code ></ p ></ li >
< li >< p >< strong > min_range</ strong > : 激光雷达可测量的最小距离（米）。默认值：< code class = "docutils literal notranslate" >< span class = "pre" > 0.05</ span ></ code ></ p ></ li >
< li >< p >< strong > max_range</ strong > : 激光雷达可测量的最大距离（米）。默认值：< code class = "docutils literal notranslate" >< span class = "pre" > 30.0</ span ></ code ></ p ></ li >
< li >< p >< strong > echo_mode</ strong > : 激光雷达的回波模式。可选值：< code class = "docutils literal notranslate" >< span class = "pre" > Last</ span > < span class = "pre" > Echo</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > First</ span > < span class = "pre" > Echo</ span ></ code ></ p ></ li >
< li >< p >< strong > point_cloud_qos</ strong > : ROS 2消息服务质量（QoS）设置。可能的值包括 < code class = "docutils literal notranslate" >< span class = "pre" > SYSTEM_DEFAULT</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > DEFAULT</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > PARAMETER_EVENTS</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > SERVICES_DEFAULT</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > PARAMETERS</ span ></ code > 和 < code class = "docutils literal notranslate" >< span class = "pre" > SENSOR_DATA</ span ></ code > ，不区分大小写。这些值分别对应 < code class = "docutils literal notranslate" >< span class = "pre" > rmw_qos_profile_system_default</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > rmw_qos_profile_default</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > rmw_qos_profile_parameter_events</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > rmw_qos_profile_services_default</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > rmw_qos_profile_parameters</ span ></ code > 和 < code class = "docutils literal notranslate" >< span class = "pre" > SENSOR_DATA</ span ></ code > 。</ p ></ li >
< li >< p >< strong > enumerate_net_device</ strong > : 启用网络设备的自动枚举。</ p ></ li >
< li >< p >< strong > net_device_ip</ strong > : 网络设备的IP地址。</ p ></ li >
< li >< p >< strong > net_device_port</ strong > : 网络端的端口号。</ p ></ li >
< li >< p >< strong > log_level</ strong > : SDK日志级别，默认值为 < code class = "docutils literal notranslate" >< span class = "pre" > none</ span ></ code > ，可选值为 < code class = "docutils literal notranslate" >< span class = "pre" > debug</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > info</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > warn</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > error</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > fatal</ span ></ code ></ p ></ li >
< li >< p >< strong > time_domain</ strong > : 设备的时间戳类型。可选值为 < code class = "docutils literal notranslate" >< span class = "pre" > device</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > global</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > system</ span ></ code ></ p ></ li >
< li >< p >< strong > config_file_path</ strong > : YAML配置文件的路径。默认值为"" 。如果未指定配置文件，将使用启动文件中的默认参数。</ p ></ li >
< li >< p >< strong > enable_heartbeat</ strong > : 启用心跳功能，默认为 < code class = "docutils literal notranslate" >< span class = "pre" > false</ span ></ code > 。如果设置为 < code class = "docutils literal notranslate" >< span class = "pre" > true</ span ></ code > ，相机节点将向固件发送心跳信号；如果需要硬件日志记录，也应将其设置为 < code class = "docutils literal notranslate" >< span class = "pre" > true</ span ></ code > 。</ p ></ li >
< li >< p >< strong > enable_imu</ strong > : 启用IMU（加速度计+陀螺仪）并输出统一的IMU话题数据。</ p ></ li >
< li >< p >< strong > imu_rate</ strong > : IMU的统一频率（加速度计和陀螺仪）。</ p ></ li >
< li >< p >< strong > accel_range</ strong > : 加速度计的量程。</ p ></ li >
< li >< p >< strong > gyro_range</ strong > : 陀螺仪的量程。</ p ></ li >
< li >< p >< strong > linear_accel_cov</ strong > : 线性加速度协方差值，默认为 < code class = "docutils literal notranslate" >< span class = "pre" > 0.0001</ span ></ code > 。</ p ></ li >
< li >< p >< strong > angular_vel_cov</ strong > : 角速度协方差值，默认为 < code class = "docutils literal notranslate" >< span class = "pre" > 0.0001</ span ></ code > 。</ p ></ li >
</ ul >
</ section >
</ section >
< section id = "id10" >
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< h1 >< span class = "section-number" > 3. </ span > 点云数据详细说明< a class = "headerlink" href = "#id10" title = "链接到此标题。" > </ a ></ h1 >
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< section id = "id11" >
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< h2 >< span class = "section-number" > 3.1. </ span > 点云格式< a class = "headerlink" href = "#id11" title = "链接到此标题。" > </ a ></ h2 >
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< p > PointCloud2 (PointXYZITO) 点云格式如下：</ p >
< div class = "highlight-default notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "n" > float32</ span > < span class = "n" > x</ span > < span class = "c1" > # X轴，单位：米</ span >
< span class = "n" > float32</ span > < span class = "n" > y</ span > < span class = "c1" > # Y轴，单位：米</ span >
< span class = "n" > float32</ span > < span class = "n" > z</ span > < span class = "c1" > # Z轴，单位：米</ span >
< span class = "n" > uint8</ span > < span class = "n" > intensity</ span > < span class = "c1" > # 激光雷达强度</ span >
< span class = "n" > uint8</ span > < span class = "n" > tag</ span > < span class = "c1" > # 激光雷达标签</ span >
< span class = "n" > uint32</ span > < span class = "n" > offset_time</ span > < span class = "c1" > # 点云相对话题时间的偏移量，单位纳秒</ span >
</ pre ></ div >
</ div >
</ section >
< section id = "id12" >
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< h2 >< span class = "section-number" > 3.2. </ span > 点云聚合功能< a class = "headerlink" href = "#id12" title = "链接到此标题。" > </ a ></ h2 >
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< p > 通过 < code class = "docutils literal notranslate" >< span class = "pre" > publish_n_pkts</ span ></ code > 参数可以开启点云聚合功能，该功能允许激光雷达在发布数据前累积指定数量的帧，然后将这些帧合并为一个更大的点云数据包进行发布。</ p >
< section id = "id13" >
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< h3 >< span class = "section-number" > 3.2.1. </ span > 功能特点：< a class = "headerlink" href = "#id13" title = "链接到此标题。" > </ a ></ h3 >
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< ul class = "simple" >
< li >< p >< strong > 参数范围</ strong > : 1-12000 帧</ p ></ li >
< li >< p >< strong > 适用格式</ strong > : 仅在激光雷达格式为 < code class = "docutils literal notranslate" >< span class = "pre" > LIDAR_POINT</ span ></ code > 或 < code class = "docutils literal notranslate" >< span class = "pre" > LIDAR_SPHERE_POINT</ span ></ code > 时有效</ p ></ li >
< li >< p >< strong > 默认值</ strong > : 1（即不聚合，每帧单独发布）</ p ></ li >
< li >< p >< strong > 用途</ strong > : 提高点云密度，适用于需要更密集点云数据的应用场景</ p ></ li >
</ ul >
</ section >
< section id = "id14" >
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< h3 >< span class = "section-number" > 3.2.2. </ span > 使用示例：< a class = "headerlink" href = "#id14" title = "链接到此标题。" > </ a ></ h3 >
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< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # 聚合10帧数据后发布</ span >
ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > lidar.launch.py< span class = "w" > </ span > lidar_format:< span class = "o" > =</ span > LIDAR_POINT< span class = "w" > </ span > publish_n_pkts:< span class = "o" > =</ span >< span class = "m" > 10</ span >
< span class = "c1" > # 聚合100帧数据后发布</ span >
ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > lidar.launch.py< span class = "w" > </ span > lidar_format:< span class = "o" > =</ span > LIDAR_SPHERE_POINT< span class = "w" > </ span > publish_n_pkts:< span class = "o" > =</ span >< span class = "m" > 100</ span >
</ pre ></ div >
</ div >
< p >< strong > 注意</ strong > : 增加 < code class = "docutils literal notranslate" >< span class = "pre" > publish_n_pkts</ span ></ code > 值会提高点云密度，但同时会增加延迟和内存使用量，请根据实际应用需求进行调整。</ p >
</ section >
</ section >
</ section >
< section id = "imu" >
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< h1 >< span class = "section-number" > 4. </ span > IMU数据< a class = "headerlink" href = "#imu" title = "链接到此标题。" > </ a ></ h1 >
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< section id = "id15" >
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< h2 >< span class = "section-number" > 4.1. </ span > IMU话题< a class = "headerlink" href = "#id15" title = "链接到此标题。" > </ a ></ h2 >
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< p > 启用IMU时，将发布以下话题：</ p >
< ul class = "simple" >
< li >< p >< strong >< code class = "docutils literal notranslate" >< span class = "pre" > /lidar/imu/sample</ span ></ code ></ strong > : 统一的IMU话题，包含 < code class = "docutils literal notranslate" >< span class = "pre" > sensor_msgs/Imu</ span ></ code > 格式的同步加速度计和陀螺仪数据。</ p ></ li >
< li >< p >< strong >< code class = "docutils literal notranslate" >< span class = "pre" > /lidar/lidar_to_imu</ span ></ code ></ strong > : 从激光雷达坐标系到IMU坐标系的变换。</ p ></ li >
</ ul >
</ section >
< section id = "id16" >
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< h2 >< span class = "section-number" > 4.2. </ span > 使用IMU数据< a class = "headerlink" href = "#id16" title = "链接到此标题。" > </ a ></ h2 >
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< p > 要启用IMU数据采集：</ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "c1" > # 启动并启用IMU</ span >
ros2< span class = "w" > </ span > launch< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > lidar.launch.py< span class = "w" > </ span > enable_imu:< span class = "o" > =</ span >< span class = "nb" > true</ span >< span class = "w" > </ span > imu_rate:< span class = "o" > =</ span > 50hz
< span class = "c1" > # 检查IMU话题</ span >
ros2< span class = "w" > </ span > topic< span class = "w" > </ span > list< span class = "w" > </ span >< span class = "p" > |</ span >< span class = "w" > </ span > grep< span class = "w" > </ span > imu
< span class = "c1" > # 查看IMU数据</ span >
ros2< span class = "w" > </ span > topic< span class = "w" > </ span >< span class = "nb" > echo</ span >< span class = "w" > </ span > /lidar/imu/sample
</ pre ></ div >
</ div >
< p > IMU数据包括：</ p >
< ul class = "simple" >
< li >< p >< strong > linear_acceleration</ strong > : 3D加速度数据（x、y、z），单位：m/s²</ p ></ li >
< li >< p >< strong > angular_velocity</ strong > : 3D角速度数据（x、y、z），单位：rad/s</ p ></ li >
< li >< p >< strong > orientation</ strong > : 四元数方向（硬件不提供，设置为零）</ p ></ li >
</ ul >
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