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<title>4. Application Guide &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
<title>1.4. Application Guide &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<li class="toctree-l1 current"><a class="reference internal" href="../index.html">1. Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1.1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.1.3. Support Platforms</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
</ul>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">1.2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">1.4. Application Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">1.4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="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>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
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<h1><span class="section-number">4. </span>Application Guide<a class="headerlink" href="#application-guide" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4. </span>Application Guide<a class="headerlink" href="#application-guide" title="Link to this heading"></a></h1>
<p>This chapter introduces application development with the SDK, including launch parameter configuration, ROS2 services, and topics usage.</p>
<div class="toctree-wrapper compound">
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<li class="toctree-l1"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
<li class="toctree-l1"><a class="reference internal" href="launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l2"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
<li class="toctree-l1"><a class="reference internal" href="services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l2"><a class="reference internal" href="services.html#stream-control">1.4.2.1. Stream Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l2"><a class="reference internal" href="services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l2"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l1"><a class="reference internal" href="topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l2"><a class="reference internal" href="topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l2"><a class="reference internal" href="topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
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</li>
<li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l2"><a class="reference internal" href="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>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a></li>
<li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a></li>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">1.4. Application Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">1.4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="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>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
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@@ -388,9 +388,9 @@
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<h1><span class="section-number">4.5. </span>Compressed Image<a class="headerlink" href="#compressed-image" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.5. </span>Compressed Image<a class="headerlink" href="#compressed-image" title="Link to this heading"></a></h1>
<p>You can use <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> to compress the image using <code class="docutils literal notranslate"><span class="pre">jpeg</span></code>. Below is an example of how to use it:</p>
<p>To access the compressed color image, you can use the following command:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
@@ -414,15 +414,15 @@
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">1.2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">1.4. Application Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">1.4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="#function-breakdown">4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
</ul>
</li>
</ul>
@@ -388,9 +388,9 @@
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<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="coordinate-systems-and-tf-transforms">
<h1><span class="section-number">4.4. </span>Coordinate Systems and TF Transforms<a class="headerlink" href="#coordinate-systems-and-tf-transforms" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.4. </span>Coordinate Systems and TF Transforms<a class="headerlink" href="#coordinate-systems-and-tf-transforms" title="Link to this heading"></a></h1>
<section id="camera-sensor-structure">
<h2><span class="section-number">4.4.1. </span>Camera sensor structure<a class="headerlink" href="#camera-sensor-structure" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.1. </span>Camera sensor structure<a class="headerlink" href="#camera-sensor-structure" title="Link to this heading"></a></h2>
<p><img alt="module in rviz2" src="../../../_images/image3.png" /></p>
<p><img alt="module in rviz2" src="../../../_images/image1.png" /></p>
</section>
<section id="tf-from-coordinate-a-to-coordinate-b">
<h2><span class="section-number">4.4.2. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.2. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h2>
<p>In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position.</p>
<p>You can view the camera’s URDF model and coordinate system structure using the following command:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
@@ -417,7 +417,7 @@
<p><img alt="module in rviz2" src="../../../_images/image2.png" /></p>
</section>
<section id="ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">
<h2><span class="section-number">4.4.3. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.3. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Point of View:</p>
<ul>
@@ -435,9 +435,9 @@
</ul>
</section>
<section id="using-ros2-tf-tools">
<h2><span class="section-number">4.4.4. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.4. </span>Using ROS2 TF Tools<a class="headerlink" href="#using-ros2-tf-tools" title="Link to this heading"></a></h2>
<section id="view-tf-tree-structure">
<h3><span class="section-number">4.4.4.1. </span>View TF Tree Structure<a class="headerlink" href="#view-tf-tree-structure" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.4.4.1. </span>View TF Tree Structure<a class="headerlink" href="#view-tf-tree-structure" title="Link to this heading"></a></h3>
<p>Use the following ROS2 commands to print and visualize the TF tree published by the camera package:</p>
<p><strong>Print all TF relationships:</strong></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
@@ -480,7 +480,7 @@
</div>
</section>
<section id="visualize-tf-tree-in-rviz2">
<h3><span class="section-number">4.4.4.2. </span>Visualize TF Tree in rviz2<a class="headerlink" href="#visualize-tf-tree-in-rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.4.4.2. </span>Visualize TF Tree in rviz2<a class="headerlink" href="#visualize-tf-tree-in-rviz2" title="Link to this heading"></a></h3>
<p>Use rviz2 to visualize the TF tree and relative frame poses in real time:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
</pre></div>
@@ -495,9 +495,9 @@
</section>
</section>
<section id="camera-tf-calculation-and-publishing-mechanism">
<h2><span class="section-number">4.4.5. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.4.5. </span>Camera TF Calculation and Publishing Mechanism<a class="headerlink" href="#camera-tf-calculation-and-publishing-mechanism" title="Link to this heading"></a></h2>
<section id="core-function-obcameranode-calcandpublishstatictransform">
<h3><span class="section-number">4.4.5.1. </span>Core Function: <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><a class="headerlink" href="#core-function-obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.4.5.1. </span>Core Function: <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><a class="headerlink" href="#core-function-obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
<p>The camera node uses this function to calculate and publish all static transforms between sensors.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">OBCameraNode::calcAndPublishStaticTransform</span><span class="p">()</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
@@ -667,7 +667,7 @@
</div>
</section>
<section id="function-breakdown">
<h3><span class="section-number">4.4.5.2. </span>Function Breakdown<a class="headerlink" href="#function-breakdown" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.4.5.2. </span>Function Breakdown<a class="headerlink" href="#function-breakdown" title="Link to this heading"></a></h3>
<p>Detailed explanation of the code:</p>
<p><strong>Quaternion Initialization and Coordinate Transform</strong></p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
@@ -741,15 +741,15 @@
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<span class="lastupdated">Last updated on 2026-01-04 01:19:52.
<span class="lastupdated">Last updated on 2026-01-04 01:26:40.
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@@ -6,7 +6,7 @@
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<li class="toctree-l5"><a class="reference internal" href="#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="#miscellaneous">4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="#depth-filters">4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="#depth-filters">1.4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">1.4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="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>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
</ul>
</li>
</ul>
@@ -388,9 +388,9 @@
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<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
<li class="breadcrumb-item active"><span class="section-number">4.1. </span>Launch parameters</li>
<li class="breadcrumb-item"><a href="../index.html"><span class="section-number">1. </span>Camera Devices</a></li>
<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">1.4. </span>Application Guide</a></li>
<li class="breadcrumb-item active"><span class="section-number">1.4.1. </span>Launch parameters</li>
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<a href="../../../_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt" rel="nofollow"> View page source</a>
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@@ -401,13 +401,13 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="launch-parameters">
<h1><span class="section-number">4.1. </span>Launch parameters<a class="headerlink" href="#launch-parameters" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.1. </span>Launch parameters<a class="headerlink" href="#launch-parameters" title="Link to this heading"></a></h1>
<blockquote>
<div><p>If you are not sure how to set the parameters, you can connect the orbbec camera and open the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK/releases">OrbbecViewer</a>.</p>
</div></blockquote>
<p>The following are the launch parameters available:</p>
<section id="core-stream-configuration">
<h2><span class="section-number">4.1.1. </span>Core &amp; Stream Configuration<a class="headerlink" href="#core-stream-configuration" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.1. </span>Core &amp; Stream Configuration<a class="headerlink" href="#core-stream-configuration" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
<ul>
@@ -508,9 +508,9 @@
</ul>
</section>
<section id="sensor-controls">
<h2><span class="section-number">4.1.2. </span>Sensor Controls<a class="headerlink" href="#sensor-controls" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.2. </span>Sensor Controls<a class="headerlink" href="#sensor-controls" title="Link to this heading"></a></h2>
<section id="color-stream">
<h3><span class="section-number">4.1.2.1. </span>Color Stream<a class="headerlink" href="#color-stream" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.2.1. </span>Color Stream<a class="headerlink" href="#color-stream" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_color_auto_exposure</span></code></strong></p>
<ul>
@@ -580,7 +580,7 @@
</ul>
</section>
<section id="depth-stream">
<h3><span class="section-number">4.1.2.2. </span>Depth Stream<a class="headerlink" href="#depth-stream" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.2.2. </span>Depth Stream<a class="headerlink" href="#depth-stream" title="Link to this heading"></a></h3>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_auto_exposure_priority</span></code></strong></p>
<ul class="simple">
@@ -613,7 +613,7 @@
</ul>
</section>
<section id="ir-stream">
<h3><span class="section-number">4.1.2.3. </span>IR Stream<a class="headerlink" href="#ir-stream" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.2.3. </span>IR Stream<a class="headerlink" href="#ir-stream" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ir_auto_exposure</span></code></strong></p>
<ul>
@@ -638,7 +638,7 @@
</ul>
</section>
<section id="laser-ldp">
<h3><span class="section-number">4.1.2.4. </span>Laser / LDP<a class="headerlink" href="#laser-ldp" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.2.4. </span>Laser / LDP<a class="headerlink" href="#laser-ldp" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_laser</span></code></strong></p>
<ul>
@@ -659,9 +659,9 @@
</section>
</section>
<section id="device-sync-advanced-features">
<h2><span class="section-number">4.1.3. </span>Device, Sync &amp; Advanced Features<a class="headerlink" href="#device-sync-advanced-features" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.3. </span>Device, Sync &amp; Advanced Features<a class="headerlink" href="#device-sync-advanced-features" title="Link to this heading"></a></h2>
<section id="multi-camera-synchronization">
<h3><span class="section-number">4.1.3.1. </span>Multi-Camera Synchronization<a class="headerlink" href="#multi-camera-synchronization" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.1. </span>Multi-Camera Synchronization<a class="headerlink" href="#multi-camera-synchronization" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">sync_mode</span></code></strong></p>
<ul>
@@ -704,7 +704,7 @@
</div></blockquote>
</section>
<section id="network-cameras">
<h3><span class="section-number">4.1.3.2. </span>Network Cameras<a class="headerlink" href="#network-cameras" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.2. </span>Network Cameras<a class="headerlink" href="#network-cameras" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
<ul>
@@ -747,7 +747,7 @@
</div></blockquote>
</section>
<section id="device-specific">
<h3><span class="section-number">4.1.3.3. </span>Device-Specific<a class="headerlink" href="#device-specific" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.3. </span>Device-Specific<a class="headerlink" href="#device-specific" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
<ul>
@@ -762,7 +762,7 @@
</ul>
</section>
<section id="disparity">
<h3><span class="section-number">4.1.3.4. </span>Disparity<a class="headerlink" href="#disparity" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.4. </span>Disparity<a class="headerlink" href="#disparity" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">disparity_to_depth_mode</span></code></strong></p>
<ul>
@@ -777,7 +777,7 @@
</ul>
</section>
<section id="interleave-ae-mode">
<h3><span class="section-number">4.1.3.5. </span>Interleave AE Mode<a class="headerlink" href="#interleave-ae-mode" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.5. </span>Interleave AE Mode<a class="headerlink" href="#interleave-ae-mode" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code></strong></p>
<ul>
@@ -798,7 +798,7 @@
</ul>
</section>
<section id="intra-camera-synchronization">
<h3><span class="section-number">4.1.3.6. </span>Intra-Camera Synchronization<a class="headerlink" href="#intra-camera-synchronization" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.3.6. </span>Intra-Camera Synchronization<a class="headerlink" href="#intra-camera-synchronization" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_registration</span></code></strong></p>
<ul>
@@ -827,9 +827,9 @@
</section>
</section>
<section id="basic-general-parameters">
<h2><span class="section-number">4.1.4. </span>Basic &amp; General Parameters<a class="headerlink" href="#basic-general-parameters" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.4. </span>Basic &amp; General Parameters<a class="headerlink" href="#basic-general-parameters" title="Link to this heading"></a></h2>
<section id="firmware-backend">
<h3><span class="section-number">4.1.4.1. </span>Firmware &amp; Backend<a class="headerlink" href="#firmware-backend" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.1. </span>Firmware &amp; Backend<a class="headerlink" href="#firmware-backend" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">upgrade_firmware</span></code></strong></p>
<ul>
@@ -859,7 +859,7 @@
</ul>
</section>
<section id="tf-extrinsics-calibration">
<h3><span class="section-number">4.1.4.2. </span>TF, Extrinsics &amp; Calibration<a class="headerlink" href="#tf-extrinsics-calibration" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.2. </span>TF, Extrinsics &amp; Calibration<a class="headerlink" href="#tf-extrinsics-calibration" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">publish_tf</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">tf_publish_rate</span></code></strong></p>
<ul>
@@ -884,7 +884,7 @@
</ul>
</section>
<section id="time-synchronization">
<h3><span class="section-number">4.1.4.3. </span>Time Synchronization<a class="headerlink" href="#time-synchronization" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.3. </span>Time Synchronization<a class="headerlink" href="#time-synchronization" title="Link to this heading"></a></h3>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code></strong></p>
<ul class="simple">
@@ -917,7 +917,7 @@
</ul>
</section>
<section id="logging-diagnostics">
<h3><span class="section-number">4.1.4.4. </span>Logging &amp; Diagnostics<a class="headerlink" href="#logging-diagnostics" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.4. </span>Logging &amp; Diagnostics<a class="headerlink" href="#logging-diagnostics" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
<ul>
@@ -942,7 +942,7 @@
</ul>
</section>
<section id="miscellaneous">
<h3><span class="section-number">4.1.4.5. </span>Miscellaneous<a class="headerlink" href="#miscellaneous" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.1.4.5. </span>Miscellaneous<a class="headerlink" href="#miscellaneous" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">config_file_path</span></code></strong></p>
<ul>
@@ -963,7 +963,7 @@
</section>
</section>
<section id="imu">
<h2><span class="section-number">4.1.5. </span>IMU<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.5. </span>IMU<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_accel</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">enable_gyro</span></code></strong></p>
<ul>
@@ -998,7 +998,7 @@
</ul>
</section>
<section id="depth-filters">
<h2><span class="section-number">4.1.6. </span>Depth Filters<a class="headerlink" href="#depth-filters" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.1.6. </span>Depth Filters<a class="headerlink" href="#depth-filters" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_decimation_filter</span></code></strong></p>
<ul>
@@ -1067,15 +1067,15 @@
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<span class="lastupdated">Last updated on 2026-01-04 01:19:52.
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@@ -6,7 +6,7 @@
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<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<li class="toctree-l1 current"><a class="reference internal" href="../index.html">1. Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1.1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.1.3. Support Platforms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">1.2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
</ul>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
</ul>
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</ul>
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<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">1.4. Application Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">1.4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="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>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="enabling-and-visualizing-point-cloud-in-ros-2">
<h1><span class="section-number">4.6. </span>Enabling and Visualizing Point Cloud in ROS 2<a class="headerlink" href="#enabling-and-visualizing-point-cloud-in-ros-2" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.6. </span>Enabling and Visualizing Point Cloud in ROS 2<a class="headerlink" href="#enabling-and-visualizing-point-cloud-in-ros-2" title="Link to this heading"></a></h1>
<p>This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.</p>
<section id="enabling-depth-point-cloud">
<h2><span class="section-number">4.6.1. </span>Enabling Depth Point Cloud<a class="headerlink" href="#enabling-depth-point-cloud" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.6.1. </span>Enabling Depth Point Cloud<a class="headerlink" href="#enabling-depth-point-cloud" title="Link to this heading"></a></h2>
<section id="command-to-enable-depth-point-cloud">
<h3><span class="section-number">4.6.1.1. </span>Command to Enable Depth Point Cloud<a class="headerlink" href="#command-to-enable-depth-point-cloud" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.6.1.1. </span>Command to Enable Depth Point Cloud<a class="headerlink" href="#command-to-enable-depth-point-cloud" title="Link to this heading"></a></h3>
<p>To activate the point cloud data stream for depth information, use the following command:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="visualizing-depth-point-cloud-in-rviz2">
<h3><span class="section-number">4.6.1.2. </span>Visualizing Depth Point Cloud in RViz2<a class="headerlink" href="#visualizing-depth-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.6.1.2. </span>Visualizing Depth Point Cloud in RViz2<a class="headerlink" href="#visualizing-depth-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
<p>After running the above command, perform the following steps to visualize the depth point cloud:</p>
<ol class="simple">
<li><p>Open RViz2.</p></li>
@@ -429,16 +429,16 @@
</section>
</section>
<section id="enabling-colored-point-cloud">
<h2><span class="section-number">4.6.2. </span>Enabling Colored Point Cloud<a class="headerlink" href="#enabling-colored-point-cloud" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.6.2. </span>Enabling Colored Point Cloud<a class="headerlink" href="#enabling-colored-point-cloud" title="Link to this heading"></a></h2>
<section id="command-to-enable-colored-point-cloud">
<h3><span class="section-number">4.6.2.1. </span>Command to Enable Colored Point Cloud<a class="headerlink" href="#command-to-enable-colored-point-cloud" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.6.2.1. </span>Command to Enable Colored Point Cloud<a class="headerlink" href="#command-to-enable-colored-point-cloud" title="Link to this heading"></a></h3>
<p>To enable the colored point cloud feature, enter the following command:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
</section>
<section id="visualizing-colored-point-cloud-in-rviz2">
<h3><span class="section-number">4.6.2.2. </span>Visualizing Colored Point Cloud in RViz2<a class="headerlink" href="#visualizing-colored-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.6.2.2. </span>Visualizing Colored Point Cloud in RViz2<a class="headerlink" href="#visualizing-colored-point-cloud-in-rviz2" title="Link to this heading"></a></h3>
<p>To visualize the colored point cloud data:</p>
<ol class="simple">
<li><p>Launch RViz2 following the command execution.</p></li>
@@ -459,15 +459,15 @@
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<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="#all-streams">4.2.1.4. All Streams</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="#all-streams">1.4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3"><a class="reference internal" href="topics.html">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="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>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
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@@ -388,9 +388,9 @@
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<li class="breadcrumb-item active"><span class="section-number">4.2. </span>All available services for camera control</li>
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@@ -401,14 +401,14 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="all-available-services-for-camera-control">
<h1><span class="section-number">4.2. </span>All available services for camera control<a class="headerlink" href="#all-available-services-for-camera-control" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.2. </span>All available services for camera control<a class="headerlink" href="#all-available-services-for-camera-control" title="Link to this heading"></a></h1>
<blockquote>
<div><p><strong>Note:</strong> Services related to a specific stream (e.g., <code class="docutils literal notranslate"><span class="pre">/camera/set_color_*</span></code>) are only available if that stream is enabled in the launch file (e.g., <code class="docutils literal notranslate"><span class="pre">enable_color:=true</span></code>).</p>
</div></blockquote>
<section id="stream-control">
<h2><span class="section-number">4.2.1. </span>Stream Control<a class="headerlink" href="#stream-control" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.1. </span>Stream Control<a class="headerlink" href="#stream-control" title="Link to this heading"></a></h2>
<section id="color-stream">
<h3><span class="section-number">4.2.1.1. </span>Color Stream<a class="headerlink" href="#color-stream" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.2.1.1. </span>Color Stream<a class="headerlink" href="#color-stream" title="Link to this heading"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_color</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_color<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -448,7 +448,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="depth-stream">
<h3><span class="section-number">4.2.1.2. </span>Depth Stream<a class="headerlink" href="#depth-stream" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.2.1.2. </span>Depth Stream<a class="headerlink" href="#depth-stream" title="Link to this heading"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_depth</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_depth<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -488,7 +488,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="ir-stream">
<h3><span class="section-number">4.2.1.3. </span>IR Stream<a class="headerlink" href="#ir-stream" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.2.1.3. </span>IR Stream<a class="headerlink" href="#ir-stream" title="Link to this heading"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_ir</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_ir<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -532,7 +532,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="all-streams">
<h3><span class="section-number">4.2.1.4. </span>All Streams<a class="headerlink" href="#all-streams" title="Link to this heading"></a></h3>
<h3><span class="section-number">1.4.2.1.4. </span>All Streams<a class="headerlink" href="#all-streams" title="Link to this heading"></a></h3>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_streams_enable</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/set_streams_enable</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_streams_enable<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
@@ -544,7 +544,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</section>
</section>
<section id="sensor-emitter-control">
<h2><span class="section-number">4.2.2. </span>Sensor &amp; Emitter Control<a class="headerlink" href="#sensor-emitter-control" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.2. </span>Sensor &amp; Emitter Control<a class="headerlink" href="#sensor-emitter-control" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_auto_white_balance</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_auto_white_balance</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_auto_white_balance<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -597,7 +597,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="device-information-management">
<h2><span class="section-number">4.2.3. </span>Device Information &amp; Management<a class="headerlink" href="#device-information-management" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.3. </span>Device Information &amp; Management<a class="headerlink" href="#device-information-management" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_device_info</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo
@@ -617,7 +617,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="synchronization-triggering">
<h2><span class="section-number">4.2.4. </span>Synchronization &amp; Triggering<a class="headerlink" href="#synchronization-triggering" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.4. </span>Synchronization &amp; Triggering<a class="headerlink" href="#synchronization-triggering" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/send_software_trigger</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/send_software_trigger<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -644,7 +644,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="depth-filter-configuration">
<h2><span class="section-number">4.2.5. </span>Depth Filter Configuration<a class="headerlink" href="#depth-filter-configuration" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.5. </span>Depth Filter Configuration<a class="headerlink" href="#depth-filter-configuration" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_filter</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Set DecimationFilter</span>
@@ -678,7 +678,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="data-capture-calibration-management">
<h2><span class="section-number">4.2.6. </span>Data Capture &amp; Calibration Management<a class="headerlink" href="#data-capture-calibration-management" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.6. </span>Data Capture &amp; Calibration Management<a class="headerlink" href="#data-capture-calibration-management" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_images</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/save_images<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
@@ -725,7 +725,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</ul>
</section>
<section id="point-cloud-decimation">
<h2><span class="section-number">4.2.7. </span>Point cloud decimation<a class="headerlink" href="#point-cloud-decimation" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.2.7. </span>Point cloud decimation<a class="headerlink" href="#point-cloud-decimation" title="Link to this heading"></a></h2>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_point_cloud_decimation</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 8}&#39;</span>
@@ -745,15 +745,15 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</div>
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<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<li class="toctree-l1 current"><a class="reference internal" href="../index.html">1. Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1.1. Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1.1. Support Hardware Products</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.1.2. Orbbec camera datasheet</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.1.3. Support Platforms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.1.2.1. Terms</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">1.2. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">1.2.1. Environment configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">1.2.2. Linux Binary Package Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">1.2.3. Build from Source</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">1.2.4. Registration Script (Required)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">1.2.4.1. Binary Installation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">1.2.4.2. Build from Source</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">1.3. Quickstarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">1.3.1. ROS Package QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">1.3.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">1.3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">1.3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">1.3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">1.3.1.2.3. Step 3: Visualize in RViz2</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">1.3.1.3. Sample Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">1.3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">1.3.1.3.2. Echo a topic</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">1.3.1.3.3. Call a service</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">1.3.1.3.4. Record with rosbag2</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">1.3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">1.3.2.1. Download</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">1.3.2.2. Connect the device</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">1.3.2.3. Camera Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">1.3.2.4. Device information and firmware upgrade</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">1.4. Application Guide</a><ul class="current">
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">1.4.1. Launch parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">1.4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">1.4.1.2. Sensor Controls</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">1.4.1.2.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">1.4.1.2.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">1.4.1.2.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">1.4.1.2.4. Laser / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">1.4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">1.4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">1.4.1.3.2. Network Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">1.4.1.3.3. Device-Specific</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">1.4.1.3.4. Disparity</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">1.4.1.3.5. Interleave AE Mode</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">1.4.1.3.6. Intra-Camera Synchronization</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">1.4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">1.4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">1.4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">1.4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">1.4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">1.4.1.4.5. Miscellaneous</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">1.4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">1.4.1.6. Depth Filters</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html">1.4.2. All available services for camera control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">1.4.2.1. Stream Control</a><ul>
<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">1.4.2.1.1. Color Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">1.4.2.1.2. Depth Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">1.4.2.1.3. IR Stream</a></li>
<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">1.4.2.1.4. All Streams</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">1.4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">1.4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">1.4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">1.4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">1.4.2.6. Data Capture &amp; Calibration Management</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">1.4.2.7. Point cloud decimation</a></li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">1.4.3. Available Topics</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#image-streams">1.4.3.1. Image Streams</a></li>
<li class="toctree-l4"><a class="reference internal" href="#point-cloud-topics">1.4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="#imu-topics">1.4.3.3. IMU Topics</a></li>
<li class="toctree-l4"><a class="reference internal" href="#device-status-diagnostics">1.4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="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>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">1.4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">1.4.4.1. Camera sensor structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">1.4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">1.4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">1.4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">1.4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">1.4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">1.4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">1.4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">1.4.4.5.2. Function Breakdown</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">1.4.5. Compressed Image</a></li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">1.4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">1.4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">1.4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">1.4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">1.4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">1.4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">1.4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">1.5. Advanced Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">1.5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">1.5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">1.5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">1.5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">1.5.1.1.3. Test environment</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">1.5.1.1.4. Test Setup</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">1.5.1.1.5. Test Results</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">1.5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">1.5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">1.5.1.2.1. Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">1.5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">1.5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">1.5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">1.5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">1.5.2. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">1.5.2.1. Multi-Camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">1.5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">1.5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">1.5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">1.5.2.2.1. Setup instructions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">1.5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">1.5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">1.5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">1.5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">1.5.2.3.1. Usage Guide</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">1.5.2.3.2. System Configuration Requirements</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">1.5.2.4. GMSL_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">1.5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">1.5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">1.5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">1.5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">1.5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">1.5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">1.5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">1.5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">1.5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">1.5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">1.5.3.3. Depth work mode switch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">1.5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">1.5.3.4.1. Function Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">1.5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">1.5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">1.5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">1.5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">1.5.3.5.2. Run the launch</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">1.5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">1.5.3.6. Predefined presets</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">1.5.3.7. Net_camera</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">1.5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">1.5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">1.5.3.7.3. Force IP Function</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">1.6. Benchmark</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">1.6.1. Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">1.6.1.1. common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">1.6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">1.6.2. Benchmark Usage</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">1.6.2.1. Using common benchmark node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">1.6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">1.6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">1.6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">1.6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">1.6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">1.6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">1.6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">1.6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">1.6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">1.6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">1.6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">1.6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">1.6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="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>
<li class="toctree-l5"><a class="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>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">1.7. Developer Guide</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">1.7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">1.7.1.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">1.7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">1.7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">1.7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">1.7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">1.7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="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>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">1.7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">1.7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">1.7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">1.7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">1.7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">1.7.2. Building a Debian Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">1.7.2.1. Preparing the Environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">1.7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">1.7.2.3. Building the Package</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#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>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">1.8. Frequently Asked Questions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">1.8.1. Unexpected Crash</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">1.8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">1.8.3. Additional Troubleshooting</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">1.8.4. Why Are There So Many Launch Files?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">1.8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">1.8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">1.8.7. femto bolt depth stream no data</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">2. Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">2.1. Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">2.1.1. Prerequisites</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">2.1.2. Install deb Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">2.1.3. Install udev Rules</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">2.1.4. Build the Package</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">2.1.5. Launch the LiDAR Node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">2.2. Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">2.2.1. Running the Driver</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">2.2.2. Get Device Information for Connected LiDARs</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">2.2.3. Check Which Configurations the LiDAR Supports</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">2.2.4. Parameters and Configuration</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">2.3. Point Cloud Data Details</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">2.3.1. Point Cloud Format</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">2.3.2. Point Cloud Aggregation Functionality</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">2.3.2.1. Features:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">2.3.2.2. Usage Examples:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">2.4. IMU Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">2.4.1. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">2.4.2. Using IMU Data</a></li>
</ul>
</li>
</ul>
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<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
<li class="breadcrumb-item active"><span class="section-number">4.3. </span>Available Topics</li>
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@@ -401,13 +401,13 @@
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<h1><span class="section-number">4.3. </span>Available Topics<a class="headerlink" href="#available-topics" title="Link to this heading"></a></h1>
<h1><span class="section-number">1.4.3. </span>Available Topics<a class="headerlink" href="#available-topics" title="Link to this heading"></a></h1>
<p>Topics are organized by stream and function. By default, all topics are published under the <code class="docutils literal notranslate"><span class="pre">/camera</span></code> namespace, which can be changed with the <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> launch parameter.</p>
<blockquote>
<div><p><strong>Note:</strong> Topics for a specific stream (e.g., <code class="docutils literal notranslate"><span class="pre">/camera/color/...</span></code>) are only published if their corresponding launch parameter (e.g., <code class="docutils literal notranslate"><span class="pre">enable_color</span></code>) is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p>
</div></blockquote>
<section id="image-streams">
<h2><span class="section-number">4.3.1. </span>Image Streams<a class="headerlink" href="#image-streams" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.3.1. </span>Image Streams<a class="headerlink" href="#image-streams" title="Link to this heading"></a></h2>
<p>These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for <code class="docutils literal notranslate"><span class="pre">color</span></code>, <code class="docutils literal notranslate"><span class="pre">depth</span></code>, <code class="docutils literal notranslate"><span class="pre">ir</span></code>, <code class="docutils literal notranslate"><span class="pre">left_ir</span></code>, and <code class="docutils literal notranslate"><span class="pre">right_ir</span></code> streams.</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code></p>
@@ -458,7 +458,7 @@
</ul>
</section>
<section id="point-cloud-topics">
<h2><span class="section-number">4.3.2. </span>Point Cloud Topics<a class="headerlink" href="#point-cloud-topics" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.3.2. </span>Point Cloud Topics<a class="headerlink" href="#point-cloud-topics" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code></p>
<ul>
@@ -475,7 +475,7 @@
</ul>
</section>
<section id="imu-topics">
<h2><span class="section-number">4.3.3. </span>IMU Topics<a class="headerlink" href="#imu-topics" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.3.3. </span>IMU Topics<a class="headerlink" href="#imu-topics" title="Link to this heading"></a></h2>
<p>The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope data. Their behavior depends on the synchronization setting.</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/accel/sample</span></code></p>
@@ -499,7 +499,7 @@
</ul>
</section>
<section id="device-status-diagnostics">
<h2><span class="section-number">4.3.4. </span>Device Status &amp; Diagnostics<a class="headerlink" href="#device-status-diagnostics" title="Link to this heading"></a></h2>
<h2><span class="section-number">1.4.3.4. </span>Device Status &amp; Diagnostics<a class="headerlink" href="#device-status-diagnostics" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/device_status</span></code></p>
<ul>
@@ -524,15 +524,15 @@
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