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Update OrbbecSDK_ROS2 to v2.3.0
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jj
@@ -126,6 +126,7 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
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**Documentation Note:**
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The following instructions are only applicable to traditional launch files. If you want to experience our latest launch file format, please refer to the following link:
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[https://orbbec.github.io/OrbbecSDK_ROS2_Docs/](https://orbbec.github.io/OrbbecSDK_ROS2_Docs/)
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## Table of Contents
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@@ -293,7 +294,15 @@ ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: false}'
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```
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- Set white balance
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* Set auto exposure ROI
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> In data_param, the first value is the `Left` setting, the second value is the `Right` setting, the third value is the `Top` setting, and the fourth value is the `Bottom` setting.
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```bash
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ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'
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```
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* Set white balance
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```bash
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ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 4600}'
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@@ -376,8 +385,10 @@ The following are the launch parameters available:
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case-insensitive. These correspond
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to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`,
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and `SENSOR_DATA`, respectively.
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- `color_ae_roi_[left|right|top|bottom]`,`depth_ae_roi_[left|right|top|bottom]`:Set Color and Depth auto exposure ROI.
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- `enable_d2c_viewer`: Publishes the D2C overlay image (for testing only).
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- `device_num`: The number of devices. This must be filled in if multiple cameras are required.
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- `preset_firmware_path` : The input parameter is the perset firmware path. If multiple paths are input, each path needs to be separated by `,`and a maximum of 3 firmware paths can be input
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- `uvc_backend`:Optional values: v4l2, libuvc
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- `color_width`, `color_height`, `color_fps`: The resolution and frame rate of the color stream.
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- `ir_width`, `ir_height`, `ir_fps`: The resolution and frame rate of the IR stream.
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@@ -433,8 +444,6 @@ The following are the launch parameters available:
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attempt to reset the camera up to three times. This setting aims to prevent USB 3.0 devices from being incorrectly
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recognized as USB 2.0. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid
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unnecessary resets.
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- `enable_3d_reconstruction_mode`: Enables 3D reconstruction mode. Default is `false`. When set to `true`, the camera
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laser operates in on-off mode, capturing IR images (laser off) for VSLAM localization and depth images (laser on) for point cloud computation.
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- `tf_publish_rate`: The rate at which the camera publishes dynamic transforms. The default value is `0.0`, which means static transforms are published.
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- `time_domain`: The frame time domain, string type, can be `device`, `global`, or `system`. `device` means using the hardware timestamp from the camera,
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`system` means using the timestamp when the PC received the first packet of data or frame, and `global` is used for synchronized time across multiple
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@@ -463,7 +472,7 @@ these settings.*
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* Imagine we are standing behind of the camera, and looking forward.
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* Always use this point of view when talking about coordinates, left vs right IRs, position of sensor, etc..
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* ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)
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* Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)
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@@ -472,9 +481,9 @@ these settings.*
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## Camera sensor structure
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## TF from coordinate A to coordinate B:
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@@ -490,7 +499,7 @@ Example of static TFs of RGB sensor and right infra sensor of Gemini335 module a
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ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
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```
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## Predefined presets
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@@ -770,16 +779,18 @@ For optimal performance, we strongly recommend updating to the latest firmware v
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| Product List | Minimal Firmware Version | **Launch File** |
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| :----------- | :----------------------- | :-------------------------- |
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| Astra2 | 2.8.20 | astra2.launch.py |
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| Femto Mega | 1.1.7/1.2.7 | femto_mega.launch.py |
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| Femto Bolt | 1.0.6/1.0.9 | femto_bolt.launch.py |
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| Gemini 2 | 1.4.60 /1.4.76 | gemini2.launch.py |
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| Gemini 2 L | 1.4.32 | gemini2L.launch.py |
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| Gemini 330 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 330L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
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| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
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| Femto Bolt | 1.1.2 | femto_bolt.launch.py |
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| Femto Mega | 1.3.0 | femto_mega.launch.py |
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| Astra 2 | 2.8.20 | astra2.launch.py |
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| Gemini 2 L | 1.4.53 | gemini2L.launch.py |
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| Gemini 2 | 1.4.92 | gemini2.launch.py |
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All launch files are essentially similar, with the primary difference being the default values of the parameters set
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for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.
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