<liclass="toctree-l4"><aclass="reference internal"href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
<liclass="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l5"><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-l5"><aclass="reference internal"href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<liclass="toctree-l4"><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-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
<liclass="toctree-l5"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<liclass="toctree-l5"><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#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<liclass="toctree-l5"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<liclass="toctree-l5"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<liclass="toctree-l4"><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-l5"><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-l5"><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-l4"><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-l5"><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-l5"><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-l3"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
<liclass="toctree-l4"><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-l5"><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-l5"><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-l5"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<liclass="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l5"><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-l5"><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-l5"><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-l5"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
<liclass="toctree-l5"><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-l5"><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-l5"><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-l5"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
<liclass="toctree-l4"><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-l5"><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-l5"><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-l5"><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>
<liclass="toctree-l4"><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-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<liclass="toctree-l5"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
<liclass="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l4"><aclass="reference internal"href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<liclass="toctree-l4"><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-l5"><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-l5"><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-l5"><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>
<liclass="toctree-l4"><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-l3"><aclass="reference internal"href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<liclass="toctree-l4"><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-l4"><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-l3"><aclass="reference internal"href="#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="#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>
<liclass="toctree-l3"><aclass="reference internal"href="#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../lidar_devices/lidar.html#install-deb-dependencies">1.2. Install deb Dependencies</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../lidar_devices/lidar.html#running-the-driver">2.1. Running the Driver</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2. Get Device Information for Connected LiDARs</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.3. Check Which Configurations the LiDAR Supports</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../../lidar_devices/lidar.html#parameters-and-configuration">2.4. Parameters and Configuration</a></li>
<h1><spanclass="section-number">8. </span>Frequently Asked Questions<aclass="headerlink"href="#frequently-asked-questions"title="Link to this heading"></a></h1>
<p>If the camera node crashes unexpectedly, it will generate a crash log in the current running directory: <codeclass="docutils literal notranslate"><spanclass="pre">Log/camera_crash_stack_trace_xx.log</span></code>. Please send this log to the support team or submit it to a GitHub issue for further assistance.</p>
<h2><spanclass="section-number">8.2. </span>No Data Stream from Multiple Cameras<aclass="headerlink"href="#no-data-stream-from-multiple-cameras"title="Link to this heading"></a></h2>
<li><p>Increase the <codeclass="docutils literal notranslate"><spanclass="pre">usbfs_memory_mb</span></code> value to 128MB (this is a reference value and can be adjusted based on your system’s needs) by running the following command:</p></li>
<li><p>To make this change permanent, check <aclass="reference external"href="https://github.com/OpenKinect/libfreenect2/issues/807">this link</a>.</p></li>
<h2><spanclass="section-number">8.3. </span>Additional Troubleshooting<aclass="headerlink"href="#additional-troubleshooting"title="Link to this heading"></a></h2>
<li><p>If you encounter other issues, set the <codeclass="docutils literal notranslate"><spanclass="pre">log_level</span></code> parameter to <codeclass="docutils literal notranslate"><spanclass="pre">debug</span></code>. This will generate an SDK log file in the running directory: <codeclass="docutils literal notranslate"><spanclass="pre">Log/OrbbecSDK.log.txt</span></code>. Please provide this file to the support team for further assistance.</p></li>
<li><p>If firmware logs are required, set <codeclass="docutils literal notranslate"><spanclass="pre">enable_heartbeat</span></code> to <codeclass="docutils literal notranslate"><spanclass="pre">true</span></code> to activate this feature.</p></li>
<h2><spanclass="section-number">8.4. </span>Why Are There So Many Launch Files?<aclass="headerlink"href="#why-are-there-so-many-launch-files"title="Link to this heading"></a></h2>
<h2><spanclass="section-number">8.5. </span>How to Launch a Specific Camera When Multiple Cameras Are Connected<aclass="headerlink"href="#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected"title="Link to this heading"></a></h2>
<h2><spanclass="section-number">8.6. </span>Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?<aclass="headerlink"href="#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams"title="Link to this heading"></a></h2>
<p>Multi-camera systems place high demands on USB bandwidth and device initialization timing. If multiple camera streams are started or switched simultaneously, it may cause temporary bandwidth congestion, leading to device initialization failures, stream startup errors, or frame drops. To ensure system stability, the following practices are recommended:</p>
<p>When starting multiple cameras, it is recommended to introduce an appropriate delay between each camera startup (e.g., <strong>2 seconds</strong>) to avoid instantaneous bandwidth overload or low-level device initialization conflicts.</p>
</li>
<li><p><strong>Stream enable/disable and mode switching phase</strong></p>
<p>When invoking stream control services (such as <codeclass="docutils literal notranslate"><spanclass="pre">set_streams_enable</span></code>, <codeclass="docutils literal notranslate"><spanclass="pre">toggle_depth</span></code>, and <codeclass="docutils literal notranslate"><spanclass="pre">toggle_color</span></code>), avoid triggering multiple service calls at the same time. Instead, introduce a reasonable interval between operations (e.g., <strong>20 ms</strong>) to ensure reliable stream state transitions.</p>
</li>
</ul>
<p>Following these timing control guidelines can significantly improve the stability of multi-camera systems during startup and runtime, reducing errors and unexpected behavior.</p>
<h2><spanclass="section-number">8.7. </span>femto bolt depth stream no data<aclass="headerlink"href="#femto-bolt-depth-stream-no-data"title="Link to this heading"></a></h2>
<p>This module depends on the OpenGL library at runtime. If OpenGL is not installed or the graphics driver is incomplete, the depth stream may output no data. Please make sure to install the necessary OpenGL libraries first (Ubuntu example below):</p>
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