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# Migrating from main to Open-Source v2-main
## **Introduction**
## Introduction
Initially, Orbbec provided a **closed-source SDK — Orbbec SDK v1**, which formed the foundation of the [OrbbecSDK ROS2 Wrapper main branch](https://github.com/orbbec/OrbbecSDK_ROS2/tree/main). Although the ROS wrapper layer itself was open-source, it relied on a closed-source underlying SDK. This architecture imposed limitations on flexibility and hindered community-driven improvements.
@@ -10,7 +10,7 @@ This document introduces the motivations and benefits of migrating ROS packages
**Note:** In the following content, **main** refers to the closed-source branch, while **v2-main** refers to the open-source v2-main branch.
## **Advantages of Migrating from main to v2-main**
## Advantages of Migrating from main to v2-main
In October 2024, Orbbec released a major update: **OrbbecSDK ROS2 Wrapper v2**, which is entirely based on the open-source Orbbec SDK_v2. Compared to the legacy main branch (SDK v1.x), the v2-main branch (Orbbec SDK_v2.x) provides greater flexibility and scalability, while offering comprehensive support for all Orbbec USB products that comply with the UVC standard.The migration from main --> v2-main brings the following key advantages:
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<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -456,7 +456,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
</div>
en/source/5_advanced_guide/configuration/align_depth_color.html
+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -398,7 +398,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
</div>
en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -375,7 +375,7 @@ resolutions is as follows:</p>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
</div>
en/source/5_advanced_guide/configuration/depth_work_mode_switch.html
+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -393,7 +393,7 @@ modify it, you can switch to the corresponding mode as needed.</p></li>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
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</div>
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</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -454,7 +454,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
</div>
en/source/5_advanced_guide/configuration/interleave_ae_mode.html
+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -418,7 +418,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
</div>
en/source/5_advanced_guide/configuration/net_camera.html
+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -457,7 +457,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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</div>
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+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -405,7 +405,7 @@ parameter.</p>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
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</div>
en/source/5_advanced_guide/multi_camera/gmsl_camera.html
+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -425,7 +425,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
</div>
en/source/5_advanced_guide/multi_camera/multi_camera.html
+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -453,7 +453,7 @@ by running the following command:</p></li>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
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</div>
en/source/5_advanced_guide/multi_camera/multi_camera_synced.html
+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -441,7 +441,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
</div>
en/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
+3 -3
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@@ -288,8 +288,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
@@ -350,14 +350,14 @@
<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="migrating-from-main-to-open-source-v2-main">
<h1><span class="section-number">7.1. </span>Migrating from main to Open-Source v2-main<a class="headerlink" href="#migrating-from-main-to-open-source-v2-main" title="Link to this heading"></a></h1>
<section id="introduction">
<h2><span class="section-number">7.1.1. </span><strong>Introduction</strong><a class="headerlink" href="#introduction" title="Link to this heading"></a></h2>
<h2><span class="section-number">7.1.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h2>
<p>Initially, Orbbec provided a <strong>closed-source SDK — Orbbec SDK v1</strong>, which formed the foundation of the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main">OrbbecSDK ROS2 Wrapper main branch</a>. Although the ROS wrapper layer itself was open-source, it relied on a closed-source underlying SDK. This architecture imposed limitations on flexibility and hindered community-driven improvements.</p>
<p>As developers increasingly demanded transparency, maintainability, and broader device support, Orbbec released a brand-new open-source v2-main <strong>— Orbbec SDK_v2</strong> (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK/tree/v2-main">GitHub link</a>). Based on this SDK, the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">open-source v2-main branch of OrbbecSDK ROS2</a> is now fully open source, offering greater extensibility and alignment with Orbbec’s future product roadmap.</p>
<p>This document introduces the motivations and benefits of migrating ROS packages from the main branch (based on SDK v1) to the v2-main branch (based on Orbbec SDK_v2). It highlights the key differences in <strong>launch files, parameters, topics, and services</strong>, and provides a migration guide to help developers smoothly transition.</p>
<p><strong>Note:</strong> In the following content, <strong>main</strong> refers to the closed-source branch, while <strong>v2-main</strong> refers to the open-source v2-main branch.</p>
</section>
<section id="advantages-of-migrating-from-main-to-v2-main">
<h2><span class="section-number">7.1.2. </span><strong>Advantages of Migrating from main to v2-main</strong><a class="headerlink" href="#advantages-of-migrating-from-main-to-v2-main" title="Link to this heading"></a></h2>
<h2><span class="section-number">7.1.2. </span>Advantages of Migrating from main to v2-main<a class="headerlink" href="#advantages-of-migrating-from-main-to-v2-main" title="Link to this heading"></a></h2>
<p>In October 2024, Orbbec released a major update: <strong>OrbbecSDK ROS2 Wrapper v2</strong>, which is entirely based on the open-source Orbbec SDK_v2. Compared to the legacy main branch (SDK v1.x), the v2-main branch (Orbbec SDK_v2.x) provides greater flexibility and scalability, while offering comprehensive support for all Orbbec USB products that comply with the UVC standard.The migration from main –&gt; v2-main brings the following key advantages:</p>
<section id="comprehensive-device-support">
<h3><span class="section-number">7.1.2.1. </span><strong>Comprehensive Device Support</strong><a class="headerlink" href="#comprehensive-device-support" title="Link to this heading"></a></h3>
@@ -1195,7 +1195,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
</div>
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</li>
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -400,7 +400,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
</div>
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</li>
<li class="toctree-l1"><a class="reference internal" href="7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><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-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#introduction">7.1.1. <strong>Introduction</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. <strong>Advantages of Migrating from main to v2-main</strong></a><ul>
<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><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-l4"><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-l4"><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-l4"><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>
@@ -365,7 +365,7 @@ language governing permissions and limitations under the License.</p>
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-10-22 03:10:57.
<span class="lastupdated">Last updated on 2025-10-22 03:17:24.
</span></p>
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# 从 main 分支迁移到开源 v2-main 分支
## **引言**
## 引言
最初，奥比中光提供了一个**闭源 SDK — Orbbec SDK v1**，它构成了 [OrbbecSDK ROS2 Wrapper main 分支](https://github.com/orbbec/OrbbecSDK_ROS2/tree/main)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。
@@ -10,7 +10,7 @@
**注意：** 在以下内容中，**main** 指闭源分支，而 **v2-main** 指开源 v2-main 分支。
## **从 main 迁移到 v2-main 的优势**
## 从 main 迁移到 v2-main 的优势
2024年10月，奥比中光发布了重大更新：**OrbbecSDK ROS2 Wrapper v2**，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 --> v2-main 的迁移带来以下关键优势：
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</li>
<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/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="source/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="source/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="source/7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/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="source/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="source/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="source/7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
@@ -359,7 +359,7 @@
<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>
<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/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="source/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="source/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="source/7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/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="source/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="source/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="source/7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
@@ -478,8 +478,8 @@
</li>
<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/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="source/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="source/7_developer_guide/migration_guide.html#id2">7.1.2. <strong>从 main 迁移到 v2-main 的优势</strong></a></li>
<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a></li>
</ul>
</li>
@@ -513,7 +513,7 @@
<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>
<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="source/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="source/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="source/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="source/7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l3"><a class="reference internal" href="source/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="source/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="source/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="source/7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
@@ -367,7 +367,7 @@
<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>
<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>
@@ -677,7 +677,7 @@ thead th {
<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>
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@@ -543,7 +543,7 @@
<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>
<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
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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.
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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>
</div>
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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>
<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>
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@@ -401,7 +401,7 @@
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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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</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>
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<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>