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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月22日 03:11:00.
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月22日 03:11:00.
<span class="lastupdated">最后更新于 2025年10月22日 03:17:27.
</span></p>
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<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月22日 03:11:00.
<span class="lastupdated">最后更新于 2025年10月22日 03:17:27.
</span></p>
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<h1><span class="section-number">7.1. </span>从 main 分支迁移到开源 v2-main 分支<a class="headerlink" href="#main-v2-main" title="Link to this heading"></a></h1>
<section id="id1">
<h2><span class="section-number">7.1.1. </span><strong>引言</strong><a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<h2><span class="section-number">7.1.1. </span>引言<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<p>最初，奥比中光提供了一个<strong>闭源 SDK — Orbbec SDK v1</strong>，它构成了 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main">OrbbecSDK ROS2 Wrapper main 分支</a>的基础。虽然 ROS 封装层本身是开源的，但它依赖于闭源的底层 SDK。这种架构限制了灵活性，阻碍了社区驱动的改进。</p>
<p>随着开发者越来越需要透明性、可维护性和更广泛的设备支持，奥比中光发布了全新的开源 v2-main <strong>— Orbbec SDK_v2</strong> (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK/tree/v2-main">GitHub 链接</a>)。基于此 SDK，<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">OrbbecSDK ROS2 的开源 v2-main 分支</a>现在完全开源，提供了更好的可扩展性，并与奥比中光未来的产品路线图保持一致。</p>
<p>本文档介绍了将 ROS 包从 main 分支（基于 SDK v1）迁移到 v2-main 分支（基于 Orbbec SDK_v2）的动机和好处。它重点介绍了<strong>启动文件、参数、话题和服务</strong>的主要差异，并提供迁移指南帮助开发者顺利过渡。</p>
<p><strong>注意：</strong> 在以下内容中，<strong>main</strong> 指闭源分支，而 <strong>v2-main</strong> 指开源 v2-main 分支。</p>
</section>
<section id="id2">
<h2><span class="section-number">7.1.2. </span><strong>从 main 迁移到 v2-main 的优势</strong><a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<h2><span class="section-number">7.1.2. </span>从 main 迁移到 v2-main 的优势<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<p>2024年10月，奥比中光发布了重大更新：<strong>OrbbecSDK ROS2 Wrapper v2</strong>，它完全基于开源的 Orbbec SDK_v2。与传统的 main 分支（SDK v1.x）相比，v2-main 分支（Orbbec SDK_v2.x）提供了更大的灵活性和可扩展性，同时为所有符合 UVC 标准的奥比中光 USB 产品提供全面支持。从 main --&gt; v2-main 的迁移带来以下关键优势：</p>
<section id="id3">
<h3><span class="section-number">7.1.2.1. </span><strong>全面的设备支持</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
@@ -1196,7 +1196,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月22日 03:11:00.
<span class="lastupdated">最后更新于 2025年10月22日 03:17:27.
</span></p>
</div>
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<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
@@ -401,7 +401,7 @@
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月22日 03:11:00.
<span class="lastupdated">最后更新于 2025年10月22日 03:17:27.
</span></p>
</div>
zh/source/license.html
+3 -3
View File
@@ -287,8 +287,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#id1">7.1.1. <strong>引言</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
@@ -366,7 +366,7 @@ language governing permissions and limitations under the License.</p>
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2025年10月22日 03:11:00.
<span class="lastupdated">最后更新于 2025年10月22日 03:17:27.
</span></p>
</div>