mirror of
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[docs]Update docs
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.. 这一页是模块目录树
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.. image:: ../image/product_h5.png
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======================================================
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Overview
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======================================================
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.. image:: http://badges.github.io/stability-badges/dist/stable.svg
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.. image:: https://img.shields.io/badge/version-2.0.8-green
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-------------------------------------------------------------------
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OrbbecSDK_ROS2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS2 environment. It
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supports ROS2 Foxy, Humble, Iron, and Jazzy distributions.
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OrbbecSDK ROS2 souce code link:
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`https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main <https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main>`_
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With the major update of the new branch v2-main in October 2024, OrbbecSDK_ROS2 is connected to the open source version of OrbbecSDK v2,
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which will make OrbbecSDK_ROS2 more flexible and extensible. This update in v2-main ensures compatibility with all new Orbbec USB products
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that comply with the UVC standard. However, OrbbecSDK_ROS2 v2 no longer supports Orbbec's traditional OpenNI protocol devices.
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We encourage you to check whether your device is supported by OrbbecSDK_ROS2 v2 and use the new version if supported.
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For the usage of orbbecSDK, please refer to the link for more detailed introduction:
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OrbbecSDK souce code link:
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`https://github.com/orbbec/OrbbecSDK_v2 <https://github.com/orbbec/OrbbecSDK_v2>`_
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======================================================
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.. toctree::
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:maxdepth: 2
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:caption: This Section Covers:
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supported_cameras.md
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supported_platforms.md
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======================================================
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.. image:: ../image/product_h1.png
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# Supported cameras
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> **Important**
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>
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> Welcome to the OrbbecSDK ROS2 Wrapper. Before you begin using this version of ROS2 wrapper, it's crucial to check the following device support list to verify the compatibility.
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OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.
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With a major update in October 2024, we release the [OrbbecSDK ROS2 Wrapper v2](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main) connected to the open source [OrbbecSDK v2](https://github.com/orbbec/OrbbecSDK_v2/releases) with enhanced flexibility and extensibility. This update ensures compatibility with all Orbbec USB products adhering to UVC standard. However, it no longer supports Orbbec's traditional OpenNI protocol devices. We strongly encourage you to use the v2-main branch if your device is supported.
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Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
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| Product Series | Product | [Branch main](https://github.com/orbbec/OrbbecSDK_ROS2/tree/main) | [Branch v2-main](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main) |
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| -------------- | --------------------------- | -------------------------------------------------------------- | -------------------------------------------------------------------- |
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| Gemini 330 | Gemini 335 | full maintenance | recommended for new designs |
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| Gemini 336 | full maintenance | recommended for new designs | |
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| Gemini 330 | full maintenance | recommended for new designs | |
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| Gemini 335L | full maintenance | recommended for new designs | |
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| Gemini 336L | full maintenance | recommended for new designs | |
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| Gemini 330L | full maintenance | recommended for new designs | |
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| Gemini 335Lg | not supported | recommended for new designs | |
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| Gemini 2 | Gemini 2 | full maintenance | recommended for new designs |
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| Gemini 2 L | full maintenance | recommended for new designs | |
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| Gemini 2 XL | recommended for new designs | to be supported | |
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| Femto | Femto Bolt | full maintenance | recommended for new designs |
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| Femto Mega | full maintenance | recommended for new designs | |
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| Femto Mega I | full maintenance | to be supported | |
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| Astra | Astra 2 | full maintenance | recommended for new designs |
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| Astra+ | limited maintenance | not supported | |
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| Astra Pro Plus | limited maintenance | not supported | |
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| Astra Mini | Astra Mini Pro | full maintenance | not supported |
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**Note** : If you do not find your device, please contact our FAE or sales representative for help.
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**Definition** :
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1. recommended for new designs: we will provide full supports with new features, bug fix and performance optimization;
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2. full maintenance: we will provide bug fix support;
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3. limited maintenance: we will provide critical bug fix support;
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4. not supported: we will not support specific device in this version;
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5. to be supported: we will add support in the near future.
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- For more product information, please refer to the official website link:[https://www.orbbec.com/products](https://www.orbbec.com/products/)
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# Supported platforms
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- The verified supported platforms and OS are as follows:
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| No. | Platform | CPU | OS | ROS2 |
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| --- | ------------------------ | --- | ------------ | -------- |
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| 1 | X64 PC | X86 | Ubuntu 20.04 | humble |
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| 2 | X64 PC | X86 | Ubuntu 22.04 | humble |
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| 3 | X64 PC | X86 | Ubuntu 24.04 | foxy |
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| 4 | NVIDIA Jetson Orin Nano | Arm | Ubuntu 20.04 | humble |
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| 5 | NVIDIA Jetson Orin NX | Arm | Ubuntu 20.04 | humble |
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| 6 | NVIDIA Jetson AGX Orin | Arm | Ubuntu 20.04 | humble |
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| 7 | NVIDIA Jetson AGX Orin | Arm | Ubuntu 22.04 | humble |
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| 8 | NVIDIA Jetson AGX Xavier | Arm | Ubuntu 20.04 | humble |
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| 9 | Qualcomm RB5 | Arm | Ubuntu 20.04 | humble |
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| 10 | RK3399 | Arm | Ubuntu 20.04 | humble |
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| 11 | RK3588 | Arm | Ubuntu 20.04 | Galactic |
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| 12 | RK3588 | Arm | Ubuntu 22.04 | humble |
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# Typical applications
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OrbbecSDK_ROS2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS2 environment. It
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supports ROS2 Foxy, Humble, and Jazzy distributions.
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**Applications scenarios:**
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* Depth Sensing
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* Object Detection
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* Body Tracking
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* Positional Tracking
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* Geo Tracking
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* Spatial Mapping
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* Camera Control
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* Plane Detection
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* Multi Camera Fusion
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* [OPDK ](https://www.orbbec.com/opdk/)
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<!-- docs/source/2_installation/build_the_package.md -->
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# Build the package
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This section provides a comprehensive guide to installing, compiling, and running the OrbbecSDK_ROS2, covering all necessary steps for setup.
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- Table of contents
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- [Get source code of OrbbecSDK_ROS2](#get-source-code-of-orbbecsdk-ros2)
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- [Install environment](#install-environment)
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- [Build project](#build-project)
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- [Performance Optimization Suggestions](#Performance Optimization Suggestions)
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## Get source code of OrbbecSDK_ROS2
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**Get source code from github:** [https://github.com/orbbec/OrbbecSDK_ROS2](https://github.com/orbbec/OrbbecSDK_ROS2)
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```bash
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mkdir -p ~/ros2_ws/src # Create colcon workspace on your local disk
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cd ~/ros2_ws/src
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git clone -b v2-main https://github.com/orbbec/OrbbecSDK_ROS2.git #Get source code
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```
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## Install environment
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**Install ROS 2 environment**, refer to the official documentation: [ROS2 installation guide: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
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```bash
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# Tips: If your ROS2 command does not auto-complete, put the following two lines into your `.bashrc` or `.zshrc`
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eval "$(register-python-argcomplete3 ros2)"
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eval "$(register-python-argcomplete3 colcon)"
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```
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**Install deb dependencies:**
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```bash
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# assume you have sourced ROS environment, same blow
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sudo apt install libgflags-dev nlohmann-json3-dev \
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ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
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ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
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ros-$ROS_DISTRO-backward-ros libdw-dev ros-$ROS_DISTRO-image-transport \
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ros-$ROS_DISTRO-image-transport-plugins ros-$ROS_DISTRO-compressed-image-transport \
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ros-$ROS_DISTRO-rqt-tf-tree -y
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```
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**Install udev rules:**
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```bash
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tar -zxvf OrbbecSDK_ROS2_xxx.tar.gz -C ~/ros2_ws/src
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cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
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sudo bash install_udev_rules.sh
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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## Build project
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```bash
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cd ~/ros2_ws/
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colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
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```
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Verify the build results.
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[start single camera](../3_start_single_camera/start_single_camera.md)
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## Performance Optimization Suggestions
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### Optimization of usbfs_memory Parameters in USB Camera
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**Increase usbfs_memory_mb Value**
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- Increase the `usbfs_memory_mb` value to 128MB (this is a reference value and can be adjusted based on your system’s needs)
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by running the following command:
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```bash
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echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
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```
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- To make this change permanent, check [this link](https://github.com/OpenKinect/libfreenect2/issues/807).
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There are two ways to persist the configuration: by modifying GRUB or by adding a systemd service.
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**by modifying GRUB**
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Open /etc/default/grub file,Find and replace
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```bash
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GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"
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```
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with this
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```bash
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GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=128"
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```
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Update grub
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```bash
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$ sudo update-grub
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```
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Reboot and check
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```bash
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$ cat /sys/module/usbcore/parameters/usbfs_memory_mb
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```
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**by adding a systemd service**
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Create the `/etc/systemd/system/usbfs-memory.service` file
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```bash
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sudo vi /etc/systemd/system/usbfs-memory.service
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```
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Paste the following content into the file:
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```bash
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[Unit]
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Description=Set USBFS memory limit
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After=multi-user.target
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[Service]
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ExecStart=/bin/bash -c 'echo 128 | tee /sys/module/usbcore/parameters/usbfs_memory_mb'
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ExecStartPost=/bin/bash -c 'echo "USBFS memory limit set to 128 MB"'
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[Install]
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WantedBy=multi-user.target
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```
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Reload the systemd configuration to apply the new service
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|
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```bash
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sudo systemctl daemon-reload
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sudo systemctl enable usbfs-memory.service
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sudo systemctl start usbfs-memory.service
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```
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Verify the service status
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```bash
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sudo systemctl status usbfs-memory.service
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cat /sys/module/usbcore/parameters/usbfs_memory_mb
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```
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### Optimizing ROS DDS Configuration
|
||||
|
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**CycloneDDS Tuning**
|
||||
|
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If you use CycloneDDS, please refer to the [CycloneDDS Tuning](../6_advanced/cyclonedds_tuning.md) file.
|
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|
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The default DDS settings may not be optimal for data transmission. Different DDS settings can have varying performance. For more detailed information, please refer to the [CycloneDDS official website](https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html).
|
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|
||||
**FastDDS Tuning**
|
||||
|
||||
If you use FastDDS, please refer to the [FastDDS Tuning](../6_advanced/fastdds_tuning.md) file.
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Executable
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.. 这一页是模块目录树
|
||||
|
||||
.. image:: ../image/product_h5.png
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|
||||
======================================================
|
||||
|
||||
|
||||
Installation
|
||||
======================================================
|
||||
|
||||
|
||||
This section provides instructions for setting up OrbbecSDK_ROS2, including environment preparation, compilation, installation, and detailed configuration options for customized deployments.
|
||||
|
||||
======================================================
|
||||
|
||||
|
||||
|
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.. toctree::
|
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:maxdepth: 2
|
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:caption: This Section Covers:
|
||||
|
||||
build_the_package.md
|
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package_description.md
|
||||
|
||||
|
||||
|
||||
|
||||
======================================================
|
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|
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.. image:: ../image/product_h1.png
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+354
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<!-- docs/source/2_installation/package_description.md -->
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|
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# Package description
|
||||
|
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This section provides a detailed overview of the topics, services, launch scripts, and YAML configuration parameters encompassed within the OrbbecSDK_ROS2 package.
|
||||
|
||||
- Table of contents
|
||||
- [All available topics](#all-available-topics)
|
||||
- [All available services](#all-available-services)
|
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- [All available launch files](#all-available-launch-files)
|
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- [All available yaml files](#all-available-yaml-files)
|
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- [Coordinate systems](#coordinate-systems)
|
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- [Useful configurations](#useful-configurations)
|
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|
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## All available topics
|
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|
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When orbbec camera starts, it will, by default, publish the following topics:
|
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|
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| No. | Published topics | Type | description |
|
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| --- | :-------------------------------------- | :-------------------------------------------- | :----------------------------------------------------------------------------------------------------------------------------- |
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| 1 | /camera/color/image_raw | [sensor_msgs/msg/Image] | The color stream image |
|
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| 2 | /camera/color/image_raw/compressed | [sensor_msgs/msg/CompressedImage] | The color stream image compressed |
|
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| 3 | /camera/color/image_raw/compressedDepth | [sensor_msgs/msg/CompressedImage] | |
|
||||
| 4 | /camera/color/image_raw/theora | [theora_image_transport/msg/Packet] | The color image metadata |
|
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| 5 | /camera/color/metadata | [orbbec_camera_msgs/msg/Metadata] | |
|
||||
| 6 | /camera/depth/camera_info | [sensor_msgs/msg/CameraInfo] | The depth camera information |
|
||||
| 7 | /camera/depth/image_raw | [sensor_msgs/msg/Image] | The depth stream image |
|
||||
| 8 | /camera/depth/image_raw/compressed | [sensor_msgs/msg/CompressedImage] | The depth stream image compressed |
|
||||
| 9 | /camera/depth/image_raw/compressedDepth | [sensor_msgs/msg/CompressedImage] | |
|
||||
| 10 | /camera/depth/image_raw/theora | [theora_image_transport/msg/Packet] | |
|
||||
| 11 | /camera/depth/metadata | [orbbec_camera_msgs/msg/Metadata] | The depth image metadata |
|
||||
| 12 | /camera/left_ir/camera_info | [sensor_msgs/msg/CameraInfo] | The left_ir camera information |
|
||||
| 13 | /camera/left_ir/image_raw | [sensor_msgs/msg/Image] | The left ir stream image |
|
||||
| 14 | /camera/left_ir/metadata | [orbbec_camera_msgs/msg/Metadata] | |
|
||||
| 15 | /camera/right_ir/camera_info | [sensor_msgs/msg/CameraInfo] | The right_ir camera information |
|
||||
| 16 | /camera/right_ir/image_raw | [sensor_msgs/msg/Image] | The right ir stream image |
|
||||
| 17 | /camera/right_ir/metadata | [orbbec_camera_msgs/msg/Metadata] | |
|
||||
| 18 | /camera/ir/camera_info | [sensor_msgs/msg/CameraInfo] | The ir camera information |
|
||||
| 19 | /camera/ir/image_raw | [sensor_msgs/msg/Image] | The ir stream image |
|
||||
| 20 | /camera/depth/points | [sensor_msgs/msg/PointCloud2] | The point cloud, only available when `enable_point_cloud` is `true` |
|
||||
| 21 | /camera/depth_filter_status | [std_msgs/msg/String] | The depth filter status |
|
||||
| 22 | /camera/depth_registered/points | [sensor_msgs/msg/PointCloud2] | The colored point cloud, only available when `enable_colored_point_cloud` is `true`. |
|
||||
| 23 | /camera/depth_to_color | [orbbec_camera_msgs/msg/Extrinsics] | |
|
||||
| 24 | /camera/depth_to_left_ir | [orbbec_camera_msgs/msg/Extrinsics] | |
|
||||
| 25 | /camera/depth_to_right_ir | [orbbec_camera_msgs/msg/Extrinsics] | |
|
||||
| 26 | /camera/depth_to_accel | [orbbec_camera_msgs/msg/Extrinsics] | |
|
||||
| 27 | /camera/depth_to_gyro | [orbbec_camera_msgs/msg/Extrinsics] | |
|
||||
| 28 | /camera/gyro/imu_info | [orbbec_camera_msgs/msg/IMUInfo] | The imu information |
|
||||
| 29 | /camera/gyro_accel/sample | [sensor_msgs/msg/Imu] | Synchronized data stream of acceleration and gyroscope，`enable_sync_output_accel_gyro` `turned on` |
|
||||
| 30 | /clicked_point | [geometry_msgs/msg/PointStamped] | |
|
||||
| 31 | /diagnostics | [diagnostic_msgs/msg/DiagnosticArray] | The diagnostic information of the camera, Currently, the diagnostic information only includes the temperature of the camera. |
|
||||
| 32 | /goal_pose | [geometry_msgs/msg/PoseStamped] | |
|
||||
| 33 | /initialpose | [geometry_msgs/msg/PoseWithCovarianceStamped] | |
|
||||
| 34 | /parameter_events | [rcl_interfaces/msg/ParameterEvent] | |
|
||||
| 35 | /rosout | [rcl_interfaces/msg/Log] 8 | |
|
||||
| 36 | /tf | [tf2_msgs/msg/TFMessage] | |
|
||||
| 37 | /tf_static | [tf2_msgs/msg/TFMessage] | |
|
||||
|
||||
## All available services
|
||||
|
||||
The name of the following services already expresses its function.
|
||||
However, it should be noted that the corresponding `set_[ir|depth|color]*`
|
||||
and `get[ir|depth|color]*` **services are only available if you set** `enable[ir|depth|color]` to `true` in the stream that corresponds to the argument of the launch file.
|
||||
|
||||
Servies can be called like this:
|
||||
|
||||
```bash
|
||||
# Get device info
|
||||
ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '{}'
|
||||
# Get SDK version
|
||||
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'
|
||||
# Set auto exposure
|
||||
ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: false}'
|
||||
# Save point cloud
|
||||
ros2 service call /camera/save_point_cloud std_srvs/srv/Empty "{}"
|
||||
```
|
||||
|
||||
| No. | Service | type | description |
|
||||
| --- | :------------------------------- | :------------------------------------- | :-------------------------- |
|
||||
| 1 | /camera/get_auto_white_balance | [orbbec_camera_msgs/srv/GetInt32] | Get auto white balance |
|
||||
| 2 | /camera/get_color_exposure | [orbbec_camera_msgs/srv/GetInt32] | Get color exposure |
|
||||
| 3 | /camera/get_color_gain | [orbbec_camera_msgs/srv/GetInt32] | Get color gain |
|
||||
| 4 | /camera/get_depth_exposure | [orbbec_camera_msgs/srv/GetInt32] | Get depth exposure |
|
||||
| 5 | /camera/get_depth_gain | [orbbec_camera_msgs/srv/GetInt32] | Get depth information |
|
||||
| 6 | /camera/get_device_info | [orbbec_camera_msgs/srv/GetDeviceInfo] | Get device information |
|
||||
| 7 | /camera/get_ldp_measure_distance | [orbbec_camera_msgs/srv/GetInt32] | Get ldp distance |
|
||||
| 8 | /camera/get_ldp_status | [orbbec_camera_msgs/srv/GetBool] | Get ldp status |
|
||||
| 9 | /camera/get_sdk_version | [orbbec_camera_msgs/srv/GetString] | Get sdk version |
|
||||
| 10 | /camera/get_white_balance | [orbbec_camera_msgs/srv/GetInt32] | Get white balance |
|
||||
| 11 | /camera/reboot_device | [std_srvs/srv/Empty] | Reboot device |
|
||||
| 12 | /camera/save_images | [std_srvs/srv/Empty] | Save images |
|
||||
| 13 | /camera/save_point_cloud | [std_srvs/srv/Empty] | Save point cloud |
|
||||
| 14 | /camera/set_auto_white_balance | [std_srvs/srv/SetBool] | Set auto white balance |
|
||||
| 15 | /camera/set_color_auto_exposure | [std_srvs/srv/SetBool] | Set color auto exposure |
|
||||
| 16 | /camera/set_color_exposure | [orbbec_camera_msgs/srv/SetInt32] | Set color exposure |
|
||||
| 17 | /camera/set_color_gain | [orbbec_camera_msgs/srv/SetInt32] | Set color gain |
|
||||
| 18 | /camera/set_color_mirror | [std_srvs/srv/SetBool] | Set color mirror |
|
||||
| 19 | /camera/set_depth_auto_exposure | [std_srvs/srv/SetBool] | Set depth auto exposure |
|
||||
| 20 | /camera/set_depth_exposure | [orbbec_camera_msgs/srv/SetInt32] | Set depth exposure |
|
||||
| 21 | /camera/set_depth_gain | [orbbec_camera_msgs/srv/SetInt32] | Set depth gain |
|
||||
| 22 | /camera/set_depth_mirror | [std_srvs/srv/SetBool] | Set depth mirror |
|
||||
| 23 | /camera/set_fan_work_mode | [orbbec_camera_msgs/srv/SetInt32] | Set fan work mode |
|
||||
| 24 | /camera/set_floor_enable | [std_srvs/srv/SetBool] | Set floor enable |
|
||||
| 25 | /camera/set_ir_long_exposure | [std_srvs/srv/SetBool] | Set ir long exposure |
|
||||
| 26 | /camera/set_laser_enable | [std_srvs/srv/SetBool] | Set laser enable |
|
||||
| 27 | /camera/set_ldp_enable | [std_srvs/srv/SetBool] | Set ldp enable |
|
||||
| 28 | /camera/set_white_balance | [orbbec_camera_msgs/srv/SetInt32] | Set white balance |
|
||||
| 29 | /camera/switch_ir | [orbbec_camera_msgs/srv/SetString] | switch left ir and right ir |
|
||||
| 30 | /camera/toggle_color | [std_srvs/srv/SetBool] | Toggle color |
|
||||
| 31 | /camera/toggle_depth | [std_srvs/srv/SetBool] | Toggle depth |
|
||||
|
||||
## All available launch files
|
||||
|
||||
| launch file list | description |
|
||||
| ---------------------------- | ------------------------------------------------- |
|
||||
| orbbec_camera.launch.py | Generic ros launch script for a 3D camera product |
|
||||
| orbbec_multicamera.launch.py | Multicamera devices startup example script |
|
||||
|
||||
**Run Command:**
|
||||
|
||||
**1. Launch Script for Specifying Device Type:**
|
||||
The `orbbec_camera.launch.py` supports two optional input parameters: camera_model and config_file_path.
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera orbbec_camera.launch.py camera_model:=gemini330_series
|
||||
```
|
||||
|
||||
or
|
||||
|
||||
```bash
|
||||
# default startup script
|
||||
ros2 launch orbbec_camera orbbec_camera.launch.py config_file_path:=gemini330_series.yaml
|
||||
```
|
||||
|
||||
**Note:**
|
||||
**camera_model:**
|
||||
|
||||
* The value of the camera_model parameter is the product type corresponding to the camera product being used.
|
||||
|
||||
**config_file_path:**
|
||||
|
||||
* The YAML configuration file located in the `config/` directory is used. By default, `gemini330_series.yaml` is selected.
|
||||
* The value of the config_file_path parameter is the path to the yaml configuration file corresponding to the camera product being used.
|
||||
* Supports the transmission of both absolute paths and relative paths to the config, or YAML files under the config can be specified without a path.
|
||||
* Supports use intra-process communication. config param use_intra_process_comms: true
|
||||
|
||||
**2.multicamera launch:**
|
||||
The multicamera startup
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera orbbec_multicamera.launch.py
|
||||
```
|
||||
|
||||
or
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera orbbec_multicamera.launch.py config_file_path:=multicamera.yaml
|
||||
```
|
||||
|
||||
**Note:**
|
||||
|
||||
1. Multiple devices default config reference config/multicamera.yaml
|
||||
2. Multiple cameras synced config reference config/multicamera_synced.yaml
|
||||
|
||||
## All available yaml files
|
||||
|
||||
| product serials | yaml file | description |
|
||||
| :--------------- | :-------------------- | :------------------------------------- |
|
||||
| astra2 | astra2.yaml | astra2 camera default params |
|
||||
| femto | femto.yaml | femto camera default params |
|
||||
| femtomega | femtomega.yaml | femtomega camera default params |
|
||||
| femtobolt | femtobolt.yaml | femtobolt camera default params |
|
||||
| gemini2 | gemini2.yaml | gemini2 camera default params |
|
||||
| gemini2L | gemini2L.yaml | gemini2L camera default params |
|
||||
| gemini330 series | gemini330_series.yaml | gemini330_series camera default params |
|
||||
|
||||
*All yaml files are fundamentally similar, with the primary differences being the default parameter values set for various models within the same series.
|
||||
Differences in USB standards, such as USB 2.0 versus USB 3.0, may require parameter adjustments. In case of startup issues, please refer to the specification manual carefully. Pay particular attention to resolution settings and other parameters in the YAML file to ensure compatibility and optimal performance.*
|
||||
|
||||
Relationship Between Product yaml Configuration File and common.yaml Configuration File, and a Rough Flowchart of Their Invocation Process
|
||||
|
||||
|
||||
|
||||
**yaml Configuration Instructions：**
|
||||
|
||||
1.common.yaml
|
||||
|
||||
Contains all basic default parameters and common default values.
|
||||
|
||||
2.product xxx.yaml
|
||||
|
||||
The yaml corresponding to a specific product, such as gemini2.yaml, will configure its product-specific difference parameters and default values based on common.yaml.
|
||||
|
||||
3.yaml Loading order description：
|
||||
|
||||
Orbbec_camera.launch.py When started, it will load first.commcon.yaml. Reload the corresponding product yaml. For example gemini2.yaml The same parameter value will overwrite the corresponding default parameter value in common.yaml.
|
||||
|
||||
**Launch Startup Instructions：**
|
||||
|
||||
1.orbbec_camera.launch.py Command line parameters have the highest priority. That is, parameters carried in the command line will override the default values of the same parameters in the yaml file.
|
||||
|
||||
2.orbbec_multicamera.launch.py The command line configuration corresponds to multicamera.yaml or multicamera_synced.yaml. For multi-machine yaml configuration, you can refer to the modification guide to modify the multi-machine configuration.
|
||||
|
||||
## Coordinate systems
|
||||
|
||||
### ROS2(Robot) vs Optical(Camera) coordination systems
|
||||
|
||||
* Point Of View:
|
||||
* Imagine we are standing behind of the camera, and looking forward.
|
||||
* Always use this point of view when talking about coordinates, left vs right IRs, position of sensor, etc..
|
||||
|
||||
|
||||
|
||||
* ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)
|
||||
* Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)
|
||||
* All data published in our wrapper topics is optical data taken directly from our camera sensors.
|
||||
* static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.
|
||||
|
||||
### Camera sensor structure
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### TF from coordinate A to coordinate B:
|
||||
|
||||
In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
|
||||
|
||||
Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
|
||||
|
||||
Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
|
||||
|
||||
Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
|
||||
```
|
||||
|
||||
|
||||
|
||||
## Useful configurations
|
||||
|
||||
### Use V4L2 backend
|
||||
|
||||
To enable the V4L2 backend for the Gemini2 series cameras, follow these steps:
|
||||
|
||||
1. The Gemini2 series cameras support the V4L2 backend.
|
||||
2. Open the `config/OrbbecSDKConfig_v2.0.xml` file.
|
||||
3. Set the navigation option to `LinuxUVCBackend`.
|
||||
4. Change the backend setting to `V4L2`.
|
||||
|
||||
Note: The V4L2 backend is not enabled by default.
|
||||
|
||||
Config V4L2 in `config/OrbbecSDKConfig_v2.0.xml` file.
|
||||
|
||||
```
|
||||
|
||||
<!-- Default configuration of data streams for different types of devices -->
|
||||
<Device>
|
||||
<!-- Whether to enumerate network devices, bool type, true-enable, false-disable (default) -->
|
||||
<EnumerateNetDevice>false</EnumerateNetDevice>
|
||||
|
||||
<!-- Global UVC Backend select on Linux; optional values: Auto, V4L2, LibUVC; The default
|
||||
setting is "Auto," which will automatically select the appropriate option based on the
|
||||
system's capabilities and the device's speciality. -->
|
||||
<LinuxUVCBackend>Auto</LinuxUVCBackend>
|
||||
|
||||
<FemtoMega>
|
||||
<!-- For Femto-Mega devices, it must be set to V4L2, LibUVC is not supported -->
|
||||
<LinuxUVCDefaultBackend>V4L2</LinuxUVCDefaultBackend>
|
||||
|
||||
```
|
||||
|
||||
### Predefined presets
|
||||
|
||||
| Preset | Features | Recommended use cases |
|
||||
| :------------- | :--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| Default | - Best visual perception - Overall good performance in accuracy, fill rate, tiny objects, etc. | - Generic - Robotics |
|
||||
| Hand | - Clear hand and finger edges | - Gesture recognition |
|
||||
| High Accuracy | - Depth of high confidence - Barely noise depth values - Lower fill rate | - Collision avoidance - Object scanning |
|
||||
| High Density | - Higher fill rate - More tiny objects - May suffer from noise depth values | - Object recognition - Pick & place - Foreground & background animation |
|
||||
| Medium Density | - Balanced performance in fill rate and accuracy - In comparison to Default: lower fill rate, better edge quality | - Generic and alternative to Default |
|
||||
| Custom | - User defined Preset - Derived from Presets above, with customized modifications, e.g. a new configuration for the post-processing pipeline, modified mean intensity set point of depth AE function, etc. | - Better depth performance achieved using customized configurations in comparison to using predefined presets<br /> - For well-established custom configurations |
|
||||
|
||||
Choose the appropriate preset name based on your specific use case and set it as the value for the `device_preset`
|
||||
parameter.
|
||||
|
||||
### Depth work mode switch
|
||||
|
||||
OrbbecSDK_ROS2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L,
|
||||
and Femto and Femto Bolt cameras.
|
||||
|
||||
- Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py
|
||||
file's support.
|
||||
- The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras.
|
||||
- The default depth work mode configuration of xxx.launch.py is the camera's default configuration. If you need to
|
||||
modify it, you can switch to the corresponding mode as needed.
|
||||
- The specific camera depth work mode support types can be found in the comments of the depth mode.
|
||||
|
||||
```python
|
||||
# Depth work mode support is as follows:
|
||||
# Unbinned Dense Default
|
||||
# Unbinned Sparse Default
|
||||
# Binned Sparse Default
|
||||
# Obstacle Avoidance
|
||||
DeclareLaunchArgument('depth_work_mode', default_value='')
|
||||
```
|
||||
|
||||
- View depth work modes:
|
||||
|
||||
```bash
|
||||
ros2 run orbbec_camera list_depth_work_mode_node
|
||||
```
|
||||
|
||||
### Configuration of depth NFOV and WFOV modes
|
||||
|
||||
For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of
|
||||
Depth and IR in the launch file.
|
||||
In launch file, depth_width、depth_height、ir_width、ir_height represents the resolution of the depth and the resolution of
|
||||
the IR.
|
||||
The frame fps and resolution of IR must be consistent with the depth. The correspondence between different modes and
|
||||
resolutions is as follows:
|
||||
|
||||
- NFOV unbinned: 640 x 576.
|
||||
- NFOV binned: 320 x 288.
|
||||
- WFOV unbinned: 1024 x 1024.
|
||||
- WFOV binned: 512 x 512.
|
||||
|
||||
### Network device enumeration
|
||||
|
||||
Currently, the network device enumeration function is supported only by the Femto Mega device. When accessing this
|
||||
device over the network, if `enumerate_net_device` is set to `true`, the device will be automatically enumerated,
|
||||
eliminating the need to configure the IP address in advance or set the enable switch to true. The specific configuration
|
||||
methods are as follows:
|
||||
|
||||
- `enumerate_net_device`: enumeration network device automatically, only supported by Femto Mega.
|
||||
if `enumerate_net_device` set to `true`, the device will be enumerated automatically,No need to set
|
||||
the `net_device_ip`
|
||||
and `net_device_port` parameters.
|
||||
- `net_device_ip`: The IP address of the device.
|
||||
- `net_device_port`: The port number of the device.
|
||||
|
||||
### Compressed Image
|
||||
|
||||
You can use image_transport to compress the image using jpeg. Below is an example of how to use it:
|
||||
To access the compressed color image, you can use the following command:
|
||||
|
||||
```bash
|
||||
ros2 topic echo /camera/color/image_raw/compressed --no-arr
|
||||
```
|
||||
|
||||
This command will allow you to receive the compressed color image from the specified topic.
|
||||
|
||||
**Note:** The compressed topic for depth is /camera/depth/image_raw/compressedDepth. The compressed topics for color and IR are /camera/color/image_raw/compressed and /camera/ir/image_raw/compressed, respectively.
|
||||
+31
@@ -0,0 +1,31 @@
|
||||
.. 这一页是模块目录树
|
||||
|
||||
.. .. image:: ../image/product_h7.png
|
||||
|
||||
.. image:: ../image/product_h5.png
|
||||
|
||||
======================================================
|
||||
|
||||
Single camera
|
||||
======================================================
|
||||
|
||||
This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS 2.
|
||||
|
||||
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
:caption: This Section Covers:
|
||||
|
||||
|
||||
start_single_camera.md
|
||||
|
||||
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. image:: ../image/product_h1.png
|
||||
+145
@@ -0,0 +1,145 @@
|
||||
<!-- docs/source/3_start_single_camera/start_single_camera.md -->
|
||||
|
||||
# Single camera
|
||||
|
||||
This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS 2.
|
||||
|
||||
- Table of contents
|
||||
- [Start single camera](#start-single-camera)
|
||||
- [Visualizing data in rviz2](#visualizing-data-in-rviz2)
|
||||
- [Display view topics service](#display-view-topics-service)
|
||||
- [Example visualizations](#example-visualizations)
|
||||
- [TF tree diagram](#tf-tree-diagram)
|
||||
|
||||
## Start single camera
|
||||
|
||||
For how to compile and build methods, please refer to Chapter `Installation/Build_the_package `documentation and follow the steps provided
|
||||
[build_the_package](../2_installation/build_the_package.md)
|
||||
|
||||
- Command to start single camera node
|
||||
|
||||
On terminal 1: Launch camera node, example of gemini330 series :
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws/
|
||||
source /opt/ros/$ROS_DISTRO/setup.bash
|
||||
source install/setup.bash
|
||||
ros2 launch orbbec_camera orbbec_camera.launch.py config_file_path:=gemini330_series.yaml
|
||||
```
|
||||
|
||||
## Visualizing data in rviz2
|
||||
|
||||
- view_display launch
|
||||
|
||||
`view_display.launch.py` supports loading different `.rviz` files through yaml configuration. For example, loading the default `.rviz` file to display four streams. config in different `.model.yaml `files through yaml configuration.
|
||||
|
||||
On terminal 2:
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws/
|
||||
source /opt/ros/$ROS_DISTRO/setup.bash
|
||||
source install/setup.bash
|
||||
ros2 launch orbbec_description view_display.launch.py camera_model:=gemini335_336
|
||||
```
|
||||
|
||||
|
||||
|
||||
- view_model launch
|
||||
|
||||
`view_model.launch.py` supports loading different `.model.yaml `files through yaml configuration. For example, loading the default model file to display gemini335_336 model .
|
||||
|
||||
On terminal 3:
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws/
|
||||
source /opt/ros/$ROS_DISTRO/setup.bash
|
||||
source install/setup.bash
|
||||
ros2 launch orbbec_description view_model.launch.py camera_model:=gemini335_336
|
||||
```
|
||||
|
||||
|
||||
|
||||
- Or you can run rviz2 and configure it by yourself
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws/
|
||||
source /opt/ros/$ROS_DISTRO/setup.bash
|
||||
source install/setup.bash
|
||||
rviz2
|
||||
```
|
||||
|
||||
When runing rviz2, select the topic you wish to visualize from the list of published topics.
|
||||
Add the selected topic to rviz2 to start viewing the data.
|
||||
|
||||
## Display view topic/service/param
|
||||
|
||||
Once the camera node is running, it will publish data on several ROS topics. Below is a list of the available topics:
|
||||
By executing `ros2 topic list`, the following topics are displayed:
|
||||
|
||||
On terminal 4:
|
||||
|
||||
```bash
|
||||
ros2 topic list
|
||||
```
|
||||
|
||||
Other , to display services/ parameters , example as follows
|
||||
|
||||
```bash
|
||||
ros2 service list
|
||||
ros2 param list
|
||||
```
|
||||
|
||||
Get device info:
|
||||
|
||||
```bash
|
||||
ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '{}'
|
||||
```
|
||||
|
||||
Get SDK version:
|
||||
|
||||
```bash
|
||||
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'
|
||||
```
|
||||
|
||||
Set auto exposure:
|
||||
|
||||
```bash
|
||||
ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: false}'
|
||||
```
|
||||
|
||||
Save point cloud:
|
||||
|
||||
```bash
|
||||
ros2 service call /camera/save_point_cloud std_srvs/srv/Empty "{}"
|
||||
```
|
||||
|
||||
|
||||
|
||||
## Example visualizations
|
||||
|
||||
Here are examples of how the visualization might appear in rviz2:
|
||||
|
||||
- **PointCloud Visualization**
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
- **Image Data Visualization**
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## TF tree diagram
|
||||
|
||||
To get the TF tree
|
||||
|
||||
```bash
|
||||
ros2 run rqt_tf_tree rqt_tf_tree --force-discover
|
||||
```
|
||||
|
||||
|
||||
|
||||
The TF tree diagram for the OrbbecSDK_ROS2 is illustrated below:
|
||||
|
||||
+30
@@ -0,0 +1,30 @@
|
||||
.. 这一页是模块目录树
|
||||
|
||||
.. .. image:: ../image/product_h4.png
|
||||
|
||||
.. image:: ../image/product_h5.png
|
||||
|
||||
======================================================
|
||||
|
||||
Multiple cameras
|
||||
======================================================
|
||||
|
||||
This section describes how to configure and use multiple Orbbec cameras simultaneously in a ROS 2 environment.
|
||||
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
:caption: This Section Covers:
|
||||
|
||||
|
||||
|
||||
start_multi_camera.md
|
||||
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. image:: ../image/product_h1.png
|
||||
+97
@@ -0,0 +1,97 @@
|
||||
<!-- docs/source/4_start_multi_camera/start_multi_camera.md -->
|
||||
|
||||
# Multiple cameras
|
||||
|
||||
This section describes how to configure and use multiple Orbbec cameras simultaneously in a ROS 2 environment.
|
||||
|
||||
- Table of contents
|
||||
- [Script to list connected cameras](#script-to-list-connected-cameras)
|
||||
- [Setup for multiple camera launch](#setup-for-multiple-camera-launch)
|
||||
- [Running the launch file](#running-the-launch-file)
|
||||
- [Configuring the TF tree for multiple cameras](#configuring-the-tf-tree-for-multiple-cameras)
|
||||
- [Example TF configuration for two cameras](#example-tf-configuration-for-two-cameras)
|
||||
|
||||
|
||||
## List connected cameras
|
||||
|
||||
To determine which USB ports the cameras are connected to, you can execute the following command.
|
||||
This Command lists all Orbbec devices attached to the system along with their USB port and serial number:
|
||||
|
||||
```bash
|
||||
$ ros2 run orbbec_camera list_devices_node
|
||||
|
||||
```
|
||||
|
||||
As follows:
|
||||
|
||||
```
|
||||
USB port_id: 4-1.1-3
|
||||
Modified USB port_id: 4-1.1
|
||||
[INFO]serial: CP7X54P0004D
|
||||
[INFO]usb port: 4-1.1
|
||||
[INFO]usb connect type: USB3.2
|
||||
USB port_id: 4-1.2-5
|
||||
Modified USB port_id: 4-1.2
|
||||
[INFO]serial: CP7X54P000AA
|
||||
[INFO]usb port: 4-1.2
|
||||
[INFO]usb connect type: USB3.2
|
||||
```
|
||||
|
||||
From the log above, it appears that the two USB cameras you are connected to are using USB ports **4-1.1 and 4-1.2**.
|
||||
|
||||
## Setup for multiple camera launch
|
||||
|
||||
You can launch multiple cameras by specifying different USB ports for each camera. You can refer to orbbec_multicamera.launch.py to implement the multicamera launch script you need..
|
||||
|
||||
## Running the launch file
|
||||
|
||||
To execute the launch configuration for multiple cameras, use the command:
|
||||
|
||||
```
|
||||
ros2 launch orbbec_camera orbbec_multicamera.launch.py config_file_path:=multicamera.yaml
|
||||
```
|
||||
|
||||
**Note:**
|
||||
|
||||
1. Multiple devices default config reference config/multicamera.yaml
|
||||
2. Multiple cameras synced config reference config/multicamera_synced.yaml
|
||||
|
||||
## Example TF configuration for two cameras
|
||||
|
||||
When using multiple cameras, it's essential to calibrate them and publish a static TF tree for each camera. The following Python script configures the TF tree based on your calibration results:
|
||||
|
||||
```python
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
|
||||
# Define the extrinsics for each camera (x, y, z, roll, pitch, yaw)
|
||||
camera_01_transform = ['0.1', '0', '0.2', '0', '0', '1.57'] # Example parameters
|
||||
camera_02_transform = ['-0.1', '0', '0.2', '0', '0', '-1.57'] # Example parameters
|
||||
|
||||
def generate_launch_description():
|
||||
ld = LaunchDescription([
|
||||
Node(
|
||||
package='tf2_ros',
|
||||
executable='static_transform_publisher',
|
||||
name='camera_01_tf',
|
||||
arguments=camera_01_transform + ['base_link', 'camera_01_link'],
|
||||
output='screen'
|
||||
),
|
||||
Node(
|
||||
package='tf2_ros',
|
||||
executable='static_transform_publisher',
|
||||
name='camera_02_tf',
|
||||
arguments=camera_02_transform + ['base_link', 'camera_02_link'],
|
||||
output='screen'
|
||||
)
|
||||
])
|
||||
|
||||
return ld
|
||||
|
||||
```
|
||||
|
||||
Save this configuration as `multi_camera_tf.launch.py` in the launch directory of the Orbbec camera package. To run it, use:
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera multi_camera_tf.launch.py
|
||||
```
|
||||
Executable
+35
@@ -0,0 +1,35 @@
|
||||
.. 这一页是模块目录树
|
||||
|
||||
.. .. image:: ../image/product_h9.png
|
||||
|
||||
.. image:: ../image/product_h5.png
|
||||
|
||||
======================================================
|
||||
|
||||
|
||||
Advanced
|
||||
======================================================
|
||||
|
||||
This section explores the advanced usage of Orbbec SDK ROS2, specifically tailored for product application scenarios. It offers comprehensive guidance on how to fully harness the SDK's capabilities, enabling you to unlock the potential of your robotics projects. Discover the optimal ways to enhance your projects using the cutting-edge features provided by Orbbec SDK ROS2 environments.
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
:caption: This Section Covers:
|
||||
|
||||
|
||||
multi_camera_sync.md
|
||||
component_node.md
|
||||
zero_copy.md
|
||||
gdb_debug.md
|
||||
backward_ros.md
|
||||
cyclonedds_tuning.md
|
||||
fastdds_tuning.md
|
||||
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. image:: ../image/product_h1.png
|
||||
Executable
+44
@@ -0,0 +1,44 @@
|
||||
# Backward ros
|
||||
|
||||
To use the `backward_ros` package for debugging your ROS2 project named `OrbbecSDK_ROS2`, you can follow these steps:
|
||||
|
||||
## Add `backward_ros` as a dependency:
|
||||
|
||||
In your `package.xml`, add `backward_ros` as a dependency:
|
||||
|
||||
xml
|
||||
|
||||
```
|
||||
<depend>backward_ros</depend>
|
||||
```
|
||||
|
||||
## Configure `CMakeLists.txt`:
|
||||
|
||||
In your `CMakeLists.txt`, find the `backward_ros` package and link it to your executable:
|
||||
|
||||
cmake
|
||||
|
||||
```
|
||||
find_package(backward_ros REQUIRED)
|
||||
include_directories(${backward_INCLUDE_DIRS})
|
||||
add_executable(your_node src/your_node.cpp)
|
||||
target_link_libraries(your_node ${backward_LIBRARIES})
|
||||
```
|
||||
|
||||
## Build your project with debug information:
|
||||
|
||||
Use `colcon build` with the `RelWithDebInfo` or `Debug` option to ensure that your executable is built with debug information:
|
||||
|
||||
```
|
||||
colcon build --cmake-args '-DCMAKE_BUILD_TYPE=RelWithDebInfo'
|
||||
```
|
||||
|
||||
## Run your node:
|
||||
|
||||
After building, you can run your node as you normally would with ROS 2. If your node crashes, `backward_ros` will automatically generate a stack trace with detailed information, including line numbers, to help you debug the issue.
|
||||
|
||||
## Example `backward_ros`
|
||||
|
||||
When your program crashes, you can go to the Log folder under the workspace to find the stack trace of the crash.
|
||||
|
||||
|
||||
Executable
+157
@@ -0,0 +1,157 @@
|
||||
# Component node
|
||||
|
||||
In ROS2, component nodes enable efficient resource management and modularity by allowing multiple nodes to be loaded into a single process, called a component container. Here’s an overview of setting up a component node and adding it to a container, both for a single node and through a `launch.py` file.
|
||||
|
||||
### Creating a component node
|
||||
|
||||
To define a node as a component, the following steps are required:
|
||||
|
||||
1. **Create a node class**: The node class should inherit from `rclcpp::Node` (C++) or `Node` (Python) and implement the core functionalities within it.
|
||||
2. **Add plugin export**: In `CMakeLists.txt`, export the node as a plugin by adding it to a component library using `rclcpp_components`. For example:
|
||||
|
||||
```cmake
|
||||
# CMakeLists.txt
|
||||
find_package(rclcpp_components REQUIRED)
|
||||
|
||||
add_library(my_component SHARED src/my_component.cpp)
|
||||
target_link_libraries(my_component PUBLIC rclcpp::rclcpp)
|
||||
ament_target_dependencies(my_component rclcpp rclcpp_components)
|
||||
|
||||
rclcpp_components_register_nodes(my_component "mypackage::MyComponent")
|
||||
```
|
||||
3. **Declare the plugin in package.xml**: Add the node as a plugin in the package manifest:
|
||||
|
||||
```xml
|
||||
<export>
|
||||
<rclcpp_components>
|
||||
<node plugin="mypackage::MyComponent" />
|
||||
</rclcpp_components>
|
||||
</export>
|
||||
```
|
||||
|
||||
### Loading a single node into a component container
|
||||
|
||||
To load a node directly into a component container, use the ComponentManager node. Run the command:
|
||||
|
||||
```bash
|
||||
ros2 run rclcpp_components component_container
|
||||
```
|
||||
|
||||
Then load the component into this container with the load_component service:
|
||||
|
||||
```bash
|
||||
ros2 component load /ComponentManager mypackage my_component
|
||||
```
|
||||
|
||||
Replace /ComponentManager with the actual name of your container, if different.
|
||||
3. Adding Component Nodes via a Launch File
|
||||
In launch.py, you can define a component container and load nodes into it. Here’s an example launch.py file:
|
||||
|
||||
```python
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import ComposableNodeContainer
|
||||
from launch_ros.descriptions import ComposableNode
|
||||
|
||||
def generate_launch_description():
|
||||
container = ComposableNodeContainer(
|
||||
name='my_container',
|
||||
namespace='',
|
||||
package='rclcpp_components',
|
||||
executable='component_container_mt', # use 'component_container' for single-threaded
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package='mypackage',
|
||||
plugin='mypackage::MyComponent',
|
||||
name='my_component'
|
||||
),
|
||||
ComposableNode(
|
||||
package='another_package',
|
||||
plugin='another_package::AnotherComponent',
|
||||
name='another_component'
|
||||
)
|
||||
],
|
||||
output='screen',
|
||||
)
|
||||
|
||||
return LaunchDescription([container])
|
||||
```
|
||||
|
||||
**explanation**
|
||||
|
||||
- ComposableNodeContainer: This creates a component container to hold nodes. Use component_container_mt for multi-threading or component_container for - single-threaded operation.
|
||||
- ComposableNode: Specifies each component to load, with arguments for the package name, plugin type, and node name.
|
||||
- output: Set to 'screen' to display output in the terminal.
|
||||
Running the Launch File
|
||||
To run the launch file, use the command:
|
||||
|
||||
```bash
|
||||
ros2 launch mypackage my_launch_file.launch.py
|
||||
```
|
||||
|
||||
This starts the component container and loads the specified nodes into it, enabling efficient component management in ROS2.
|
||||
|
||||
### Loading a launch.py into a component container
|
||||
|
||||
```python
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.conditions import UnlessCondition
|
||||
from launch_ros.actions import Node, IncludeLaunchDescription
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
import os
|
||||
|
||||
def generate_launch_description():
|
||||
bringup_dir = os.path.join(get_package_share_directory('mypackage'))
|
||||
|
||||
# Define the shared container name
|
||||
shared_container_name = "shared_nvblox_container"
|
||||
|
||||
# Create the shared component container
|
||||
shared_container = Node(
|
||||
name=shared_container_name,
|
||||
package='rclcpp_components',
|
||||
executable='component_container_mt', # or 'component_container' for single-threaded
|
||||
output='screen'
|
||||
)
|
||||
|
||||
# Include another launch file to attach nodes to the shared container
|
||||
orbbec_launch = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource([os.path.join(
|
||||
bringup_dir, 'launch', 'sensors', 'orbbec.launch.py')]),
|
||||
launch_arguments={
|
||||
'attach_to_shared_component_container': 'True',
|
||||
'component_container_name': shared_container_name
|
||||
}.items(),
|
||||
condition=UnlessCondition(LaunchConfiguration('from_bag'))
|
||||
)
|
||||
|
||||
# Declare any required launch arguments
|
||||
from_bag_arg = DeclareLaunchArgument(
|
||||
'from_bag',
|
||||
default_value='false',
|
||||
description='Condition to use data from a bag file'
|
||||
)
|
||||
|
||||
# Return LaunchDescription with shared container and nodes attached
|
||||
return LaunchDescription([from_bag_arg, shared_container, orbbec_launch])
|
||||
```
|
||||
|
||||
**Explanation**
|
||||
|
||||
- **shared_container_name**: The name of the shared container, which other nodes can reference for attaching.
|
||||
- **shared_container**: Defines the shared container as a `Node`, using `component_container_mt` for multi-threading. This container will host multiple component nodes.
|
||||
- **IncludeLaunchDescription**: Loads and attaches nodes from another launch file (in this example, orbbec.launch.py) to the shared container.
|
||||
- launch_arguments: The arguments passed to the included launch file.
|
||||
- **attach_to_shared_component_container**: Set to `'True'`, specifying that nodes in `orbbec.launch.py` should be added to the existing shared container.
|
||||
- **component_container_name**: References the `shared_container_name`, linking nodes from the included launch file to the shared container.
|
||||
- **condition**: Only includes the `orbbec.launch.py` nodes in the shared container if the `from_bag` parameter is `false`.
|
||||
|
||||
**Running the launch File**
|
||||
|
||||
Execute the following command to start the launch file:
|
||||
|
||||
```
|
||||
ros2 launch mypackage my_main_launch_file.launch.py
|
||||
```
|
||||
|
||||
This command will start the shared component container and attach the nodes specified in `orbbec.launch.py` to it if the `from_bag` condition is not met.
|
||||
Executable
+56
@@ -0,0 +1,56 @@
|
||||
# CycloneDDS tuning
|
||||
|
||||
● Edit cyclonedds configuration file
|
||||
|
||||
```bash
|
||||
sudo gedit /etc/cyclonedds/config.xml
|
||||
```
|
||||
|
||||
Add
|
||||
|
||||
```xml
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||
xsi:schemaLocation="https://cdds.io/confighttps://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
|
||||
<Domain id="any">
|
||||
<General>
|
||||
<NetworkInterfaceAddress>lo</NetworkInterfaceAddress>
|
||||
<AllowMulticast>false</AllowMulticast>
|
||||
</General>
|
||||
<Internal>
|
||||
<MinimumSocketReceiveBufferSize>16MB</MinimumSocketReceiveBufferSize>
|
||||
</Internal>
|
||||
<Discovery>
|
||||
<ParticipantIndex>auto</ParticipantIndex>
|
||||
<MaxAutoParticipantIndex>30</MaxAutoParticipantIndex>
|
||||
<Peers>
|
||||
<Peer address="localhost"/>
|
||||
</Peers>
|
||||
</Discovery>
|
||||
</Domain>
|
||||
</CycloneDDS>
|
||||
```
|
||||
|
||||
● Set the environment variables, add to `.zshrc` or `.bashrc`
|
||||
|
||||
```bash
|
||||
export ROS_DOMAIN_ID=42 # Numbers from 0 to 232
|
||||
export ROS_LOCALHOST_ONLY=1
|
||||
export CYCLONEDDS_URI=file:///etc/cyclonedds/config.xml
|
||||
```
|
||||
|
||||
Tips:to understand why the maximum ROS_DOMAIN_ID is 232, please visit [The ROS DOMAIN ID](https://docs.ros.org/en/humble/Concepts/About-Domain-ID.html)
|
||||
|
||||
● Increase UDP receive buffer size
|
||||
Edit
|
||||
|
||||
```bash
|
||||
/etc/sysctl.d/10-cyclone-max.conf
|
||||
```
|
||||
|
||||
Add
|
||||
|
||||
```bash
|
||||
net.core.rmem_max=2147483647
|
||||
net.core.rmem_default=2147483647
|
||||
```
|
||||
Executable
+154
@@ -0,0 +1,154 @@
|
||||
# FastDDS tuning
|
||||
|
||||
When operating with the default configuration, FastDDS exhibits suboptimal transmission efficiency, resulting in
|
||||
significant image transmission delays when used with the Orbbec camera in ROS2. This document provides guidance on
|
||||
optimizing FastDDS to enhance image transfer efficiency.
|
||||
|
||||
## Adjusting system parameters
|
||||
|
||||
### IP fragmentation time
|
||||
|
||||
- **Path**: `/proc/sys/net/ipv4/ipfrag_time` (default: 30 seconds)
|
||||
- **Purpose**: Defines the duration that IP fragments are kept in memory.
|
||||
- **Adjustment**: Decrease this value to reduce the time window where no fragments are received, which can help reduce
|
||||
delays. Consider the specific needs of your environment as this setting affects all incoming fragments.
|
||||
|
||||
**Example**: Set to 3 seconds.
|
||||
|
||||
```bash
|
||||
sudo sysctl net.ipv4.ipfrag_time=3
|
||||
```
|
||||
|
||||
### IP fragmentation memory threshold
|
||||
|
||||
- **Path**: `/proc/sys/net/ipv4/ipfrag_high_thresh` (default: 262144 bytes)
|
||||
- **Purpose**: Sets the maximum memory used to reassemble IP fragments.
|
||||
- **Adjustment**: Increase this value to allow more memory for fragment reassembly, which can improve handling of larger
|
||||
data packets.
|
||||
|
||||
**Example**: Increase to 128 MB.
|
||||
|
||||
```bash
|
||||
sudo sysctl net.ipv4.ipfrag_high_thresh=134217728
|
||||
```
|
||||
|
||||
### Maximum buffer sizes
|
||||
|
||||
- **Purpose**: Configures the maximum buffer sizes for receiving and sending data, which is critical for high-throughput
|
||||
data transmission.
|
||||
- **Adjustment**: Set the maximum buffer sizes for both receiving and sending operations.
|
||||
|
||||
**Commands**:
|
||||
|
||||
```bash
|
||||
sudo sysctl -w net.core.rmem_max=2147483647
|
||||
sudo sysctl -w net.core.rmem_default=2147483647
|
||||
sudo sysctl -w net.core.wmem_max=2147483647
|
||||
sudo sysctl -w net.core.wmem_default=2147483647
|
||||
```
|
||||
|
||||
Alternatively, make these settings permanent by adding them to the `/etc/sysctl.d/10-fastrtps-max.conf` file.
|
||||
|
||||
```bash
|
||||
sudo gedit /etc/sysctl.d/10-fastrtps-max.conf
|
||||
```
|
||||
|
||||
add blow lines to the file:
|
||||
|
||||
```bash
|
||||
net.core.rmem_max=2147483647
|
||||
net.core.rmem_default=2147483647
|
||||
net.core.wmem_max=2147483647
|
||||
net.core.wmem_default=2147483647
|
||||
```
|
||||
|
||||
then save and exit the file. run `sudo sysctl -p` to apply the changes.
|
||||
|
||||
For detailed guidance, refer
|
||||
to [ROS 2 DDS Tuning Documentation](https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html).
|
||||
|
||||
## 2. FastDDS configuration
|
||||
|
||||
Below is an example of a FastDDS configuration file optimized for ROS2 usage with the Orbbec camera. This configuration
|
||||
enhances the overall data transmission by adjusting buffer sizes and transport settings.
|
||||
|
||||
### Configuration file: `shm_fastdds.xml`
|
||||
|
||||
Place this file in the `$HOME` directory.
|
||||
|
||||
```xml
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
|
||||
<transport_descriptors>
|
||||
<transport_descriptor>
|
||||
<transport_id>UDP_transport</transport_id>
|
||||
<type>UDPv4</type>
|
||||
<maxInitialPeersRange>10</maxInitialPeersRange>
|
||||
<maxMessageSize>65000</maxMessageSize>
|
||||
<sendBufferSize>1048576</sendBufferSize>
|
||||
<receiveBufferSize>1048576</receiveBufferSize>
|
||||
</transport_descriptor>
|
||||
</transport_descriptors>
|
||||
<participant profile_name="participant_profile_ros2" is_default_profile="true">
|
||||
<rtps>
|
||||
<name>profile_for_ros2_context</name>
|
||||
<userTransports>
|
||||
<transport_id>UDP_transport</transport_id>
|
||||
</userTransports>
|
||||
<useBuiltinTransports>false</useBuiltinTransports>
|
||||
<sendSocketBufferSize>1048576</sendSocketBufferSize>
|
||||
<listenSocketBufferSize>1048576</listenSocketBufferSize>
|
||||
<builtin>
|
||||
<initialPeersList>
|
||||
<locator>
|
||||
<udpv4>
|
||||
<address>127.0.0.1</address>
|
||||
</udpv4>
|
||||
</locator>
|
||||
</initialPeersList>
|
||||
</builtin>
|
||||
</rtps>
|
||||
</participant>
|
||||
<data_writer profile_name="default publisher profile" is_default_profile="true">
|
||||
<qos>
|
||||
<publishMode>
|
||||
<kind>ASYNCHRONOUS</kind>
|
||||
</publishMode>
|
||||
<latencyBudget>
|
||||
<duration>
|
||||
<sec>0</sec>
|
||||
<nanosec>1000000</nanosec>
|
||||
</duration>
|
||||
</latencyBudget>
|
||||
</qos>
|
||||
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
|
||||
</data_writer>
|
||||
<data_reader profile_name="default subscription profile" is_default_profile="true">
|
||||
<qos>
|
||||
<data_sharing>
|
||||
<kind>AUTOMATIC</kind>
|
||||
</data_sharing>
|
||||
<latencyBudget>
|
||||
<duration>
|
||||
<sec>0</sec>
|
||||
<nanosec>1000000</nanosec>
|
||||
</duration>
|
||||
</latencyBudget>
|
||||
</qos>
|
||||
<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>
|
||||
</data_reader>
|
||||
</profiles>
|
||||
```
|
||||
|
||||
### Environment variables
|
||||
|
||||
Set the following environment variables to use the custom FastDDS profile:
|
||||
|
||||
```bash
|
||||
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
|
||||
export FASTRTPS_DEFAULT_PROFILES_FILE=$HOME/shm_fastdds.xml
|
||||
export RMW_FASTRTPS_USE_QOS_FROM_XML=1
|
||||
```
|
||||
|
||||
This configuration aims to optimize the data flow and reduce transmission delays, improving the responsiveness and
|
||||
reliability of the Orbbec camera system in a ROS2 environment.
|
||||
Executable
+23
@@ -0,0 +1,23 @@
|
||||
# GDB debug
|
||||
|
||||
Debugging ROS 2 programs with GDB involves several steps:
|
||||
|
||||
## Config debug
|
||||
|
||||
Set `CMAKE_BUILD_TYPE` to `Debug` in ` orbbec_camera/CMakeLists.txt`
|
||||
|
||||
```
|
||||
set(CMAKE_BUILD_TYPE Debug)
|
||||
```
|
||||
|
||||
## Use xterm terminal to open gdb debugging
|
||||
|
||||
Install xterm
|
||||
|
||||
```bash
|
||||
sudo apt install xterm
|
||||
```
|
||||
|
||||
Take gemini_330_series.launch.py as an example to use xterm terminal to open gdb
|
||||
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 74 KiB |
Executable
+128
@@ -0,0 +1,128 @@
|
||||
<!-- docs/source/6_advanced/multi_camera_sync.md -->
|
||||
|
||||
# Multiple cameras synchronization
|
||||
|
||||
- Table of contents
|
||||
|
||||
- [Preparation](#preparation)
|
||||
- [Check the camera usb port](#check-the-camera-usb-port)
|
||||
- [Configure multi_camera_synced.launch.py](#configure-multi_camera_synced.launch.py)
|
||||
- [Run multi_camera_synced.launch.py](#run-multi_camera_synced.launch.py)
|
||||
- [Advanced Parameters](#advanced-parameters)
|
||||
- [Gmsl example](#gmsl-example)
|
||||
- [suggestions for multiple cameras synchronization](#suggestions for multiple cameras synchronization)
|
||||
|
||||
## Preparation
|
||||
|
||||
First, please read the user documentation:[https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/](https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/)
|
||||
|
||||
Secondly,make sure the cameras are properly connected to the multi-camera synchronizer
|
||||
|
||||
|
||||
|
||||
## Check the camera usb port
|
||||
|
||||
```bash
|
||||
ros2 run orbbec_camera list_devices_node
|
||||
```
|
||||
|
||||
Output:
|
||||
|
||||
|
||||
|
||||
## Configure multiple cameras synced
|
||||
|
||||
Open `orbbec_multicamera.launch.py`, the camera configuration is as shown below
|
||||
|
||||
You can replace `multicamera.yaml `with other yaml files, such as `multicamera_synced.yaml`
|
||||
|
||||
|
||||
|
||||
Open `multicamera_synced.yaml`，the camera configuration is as shown below
|
||||
|
||||
|
||||
|
||||
```
|
||||
note: gemini330_series_sync_front_camera.yaml is the camera configuration file.
|
||||
```
|
||||
|
||||
|
||||
**When configuring multiple cameras sync, you need to pay attention to the following parameters:**
|
||||
|
||||
1.**camera_name**
|
||||
|
||||
camera_name is set to front_camera, for example, the color image topic name is /front_camera/color/image_raw"
|
||||
|
||||
2.**usb_port**
|
||||
|
||||
The `usb_port` parameter specifies the USB port number to which the camera is connected. In your example, "2-7" indicates that the camera devices connected to USB ports 2 through 7 are started. You can use the command `ros2 run orbbec_camera list_devices_node` to view the device port numbers.
|
||||
|
||||
Please ensure that these port numbers match your actual hardware cameras. If you have more cameras or cameras connected to different ports, you need to configure the corresponding port number for each device.
|
||||
|
||||
3.**device_num**
|
||||
|
||||
The device_num parameter indicates the number of cameras to be started. Please ensure that this value matches the number of cameras you want to start and does not exceed the number of cameras actually connected or the system's processing capacity.
|
||||
|
||||
4.**sync_mode**
|
||||
|
||||
sync_mode is set to software_triggering, indicating that the 2-7 camera device is set to software trigger mode, and the selection of multiple cameras synchronization mode can refer to the following table.
|
||||
|
||||
Please refer to the[multi-camera synchronization mode definition description](https://www.orbbec.com/docs-general/set-up-cameras-for-external-synchronization_v1-2/#) for details.
|
||||
|
||||
|
||||
|
||||
|
||||
`multicamera_synced.yaml` describes the camera startup order, the host must be started last
|
||||
|
||||
|
||||
|
||||
## Run `multicamera_synced.launch.py`
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera multicamera_synced.launch.py
|
||||
```
|
||||
|
||||
## Advanced sync parameters
|
||||
|
||||
Some camera parameters are related to multi-camera sync
|
||||
|
||||
| Camera parameters | action |
|
||||
| ----------------------- | ------------------------------------------------------------- |
|
||||
| trigger_out_enabled | Trigger signal switch setting |
|
||||
| trigger2image_delay_us | Configure the secondarydepth delay and secondarycolor delay |
|
||||
| trigger_out_delay_us | Trigger signal delay |
|
||||
| frames_per_trigger | Software trigger frequency(used with software_trigger_period) |
|
||||
| software_trigger_period | Software trigger interval(used with frames_per_trigger) |
|
||||
|
||||
|
||||
|
||||
|
||||
## GMSL camera example
|
||||
|
||||
**Key Distinctions Between GMSL and USB Devices:**
|
||||
|
||||
**1.usb_port Configuration:**
|
||||
|
||||
• For USB cameras, the port is specified as: usb_port: "2-3"
|
||||
|
||||
• For GMSL cameras, the port should be designated as: usb_port: "gmsl2-3"
|
||||
|
||||
**2.Color Stream Format Compatibility:**
|
||||
|
||||
• It is important to note that GMSL devices do not support the MJPG color format. Consequently, the format must be switched to YUYV when utilizing GMSL equipment.
|
||||
|
||||
|
||||
|
||||
## suggestions for multiple cameras synchronization
|
||||
|
||||
When configuring multiple cameras, there are several additional points to consider:
|
||||
|
||||
1.Power Supply: Ensure that each camera receives sufficient power supply. Simultaneous operation of multiple high-power devices can put strain on the USB bus.
|
||||
|
||||
2.Bandwidth Limitations: Simultaneous data transfer from multiple cameras can strain the USB bus or network bandwidth. Consider using higher bandwidth connections (such as USB 3.0 or higher) or optimizing data transfer settings.
|
||||
|
||||
3.Synchronization Issues: If you require time synchronization between multiple cameras, ensure that your system supports and is properly configured for camera synchronization.
|
||||
|
||||
4.Software Configuration: In ROS, you may need to configure separate nodes and topics for each camera to ensure they do not conflict. Using namespaces and the parameter server can help manage these configurations.
|
||||
|
||||
Finally, do not forget to conduct thorough testing before deployment to ensure that all cameras function correctly and that system performance meets expectations.
|
||||
Executable
+54
@@ -0,0 +1,54 @@
|
||||
# Zero-copy communications
|
||||
|
||||
## Efficient intra-process communication:
|
||||
|
||||
[](https://github.com/orbbec/OrbbecSDK_ROS2?tab=readme-ov-file#efficient-intra-process-communication)
|
||||
|
||||
Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on ../image/pointcloud topics, especially with big frame resolutions and high FPS.
|
||||
|
||||
You will need to launch a component container and launch our node as a component together with other component nodes. Further details on "Composing multiple nodes in a single process" can be found [here](https://docs.ros.org/en/rolling/Tutorials/Composition.html).
|
||||
|
||||
Further details on efficient intra-process communication can be found [here](https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication).
|
||||
|
||||
## Zero-copy example
|
||||
|
||||
[](https://github.com/orbbec/OrbbecSDK_ROS2?tab=readme-ov-file#example)
|
||||
|
||||
## Manually loading multiple components into the same process
|
||||
|
||||
[](https://github.com/orbbec/OrbbecSDK_ROS2?tab=readme-ov-file#manually-loading-multiple-components-into-the-same-process)
|
||||
|
||||
* Start the component:
|
||||
|
||||
```shell
|
||||
ros2 run rclcpp_components component_container
|
||||
```
|
||||
* Add the wrapper:
|
||||
|
||||
```shell
|
||||
ros2 component load /ComponentManager orbbec_camera orbbec_camera::OBCameraNodeDriver -e use_intra_process_comms:=true
|
||||
```
|
||||
|
||||
Load other component nodes (consumers of the wrapper topics) in the same way.
|
||||
|
||||
## Using a launch file
|
||||
|
||||
[](https://github.com/orbbec/OrbbecSDK_ROS2?tab=readme-ov-file#using-a-launch-file)
|
||||
|
||||
```shell
|
||||
ros2 launch orbbec_camera orbbec_camera.launch.py use_intra_process_comms:=true
|
||||
```
|
||||
|
||||
```bash
|
||||
$ ros2 component list
|
||||
/camera/camera_container
|
||||
1 /camera/camera
|
||||
2 /camera/frame_latency
|
||||
```
|
||||
|
||||
## Limitations
|
||||
|
||||
[](https://github.com/orbbec/OrbbecSDK_ROS2?tab=readme-ov-file#limitations)
|
||||
|
||||
* Node components are currently not supported on RCLPY
|
||||
* Compressed images using `image_transport` will be disabled as this isn't supported with intra-process communication
|
||||
Executable
+31
@@ -0,0 +1,31 @@
|
||||
.. 这一页是模块目录树
|
||||
.. :titlesonly:
|
||||
|
||||
|
||||
.. image:: ../image/product_h5.png
|
||||
|
||||
======================================================
|
||||
|
||||
|
||||
Tools
|
||||
======================================================
|
||||
|
||||
This chapter details the tools integrated with Orbbec SDK ROS2 and their usage methods, providing a guide for developers to effectively utilize these functionalities in robotic applications.
|
||||
|
||||
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
:caption: This Section Covers:
|
||||
|
||||
|
||||
|
||||
tools.md
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. image:: ../image/product_h1.png
|
||||
Executable
+82
@@ -0,0 +1,82 @@
|
||||
# Some practical tools
|
||||
|
||||
| Tool Name | effect |
|
||||
| ----------------------------- | -------------------------------------------------------------------------------------------------------------- |
|
||||
| list_devices_node | check the camera USB port number |
|
||||
| list_depth_work_mode_node | view depth work modes |
|
||||
| list_camera_profile_mode_node | check which profiles the camera supports |
|
||||
| topic_statistics_node | topic statistics |
|
||||
| multi_save_rgbir_node | Multi camera sync save image, used to test synchronization quality |
|
||||
| metadata_save_files_node | Save the depth, left and right ir images and metadata data |
|
||||
| metadata_export_files_node | Compared with metadata_save_files_node, it has one more color collection but reduces some metadata data saving |
|
||||
|
||||
## list_devices_node
|
||||
|
||||
If you have connected multiple cameras, but you want to start a specific camera, you can run the list_devices_node tool to view the USB port of each camera.
|
||||
|
||||
```bash
|
||||
ros2 run orbbec_camera list_devices_node
|
||||
```
|
||||
|
||||
|
||||
|
||||
## list_depth_work_mode_node
|
||||
|
||||
OrbbecSDK_ROS2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Femto and Femto Bolt cameras.
|
||||
|
||||
View depth work modes:
|
||||
|
||||
```bash
|
||||
ros2 run orbbec_camera list_depth_work_mode_node
|
||||
```
|
||||
|
||||
|
||||
|
||||
## list_camera_profile_mode_node
|
||||
|
||||
Check which profiles the camera supports:
|
||||
|
||||
```bash
|
||||
ros2 run orbbec_camera list_camera_profile_mode_node
|
||||
```
|
||||
|
||||
|
||||
|
||||
The above image only shows part of the output
|
||||
|
||||
## multi_save_rgbir_node
|
||||
|
||||
The purpose of multi_save_rgbir_node is to test the synchronization effect of using multiple Orbbec cameras in OrbbecSDK ROS2
|
||||
|
||||
This tool will save the color and left IR images of each camera and the timestamp information
|
||||
|
||||
The configuration parameter file of this tool node is multi_save_rgbir_params.json
|
||||
|
||||
|
||||
|
||||
* The parameter order of usb_ports: "Host", "Slave 1", "Slave 2", "Slave 3". Fill in as many usb_ports as there are cameras.
|
||||
* ir_topics and color_topics are topic names. Fill in as many names as there are cameras.
|
||||
|
||||
## metadata_save_files_node
|
||||
|
||||
The metadata_save_files_node tool will save the depth, left and right IR, images and metadata data
|
||||
|
||||
The configuration parameter file of this tool node is metadata_save_params.json
|
||||
|
||||
|
||||
|
||||
```bash
|
||||
ros2 run orbbec_camera metadata_save_files_node
|
||||
```
|
||||
|
||||
## metadata_export_files_node
|
||||
|
||||
The metadata_save_files_node tool will save depth, color, left and right IR images and some metadata data
|
||||
|
||||
The configuration parameter file of this tool node is metadata_save_params.json
|
||||
|
||||
|
||||
|
||||
```bash
|
||||
ros2 run orbbec_camera metadata_export_files_node
|
||||
```
|
||||
Executable
+69
@@ -0,0 +1,69 @@
|
||||
# FAQ
|
||||
|
||||
## Unexpected crash
|
||||
|
||||
If the camera node crashes unexpectedly, it will generate a crash log in the current running directory: `Log/camera_crash_stack_trace_xx.log`.
|
||||
Please send this log to the support team or submit it to a GitHub issue for further assistance.
|
||||
|
||||
**Regarding logging, please refer to the following log recommendations:**
|
||||
|
||||
In ROS, the location of the log directory is typically associated with the ROS workspace, but the specific log path may vary depending on the installation method and operating system.
|
||||
|
||||
Here are some common locations for ROS log directories:
|
||||
|
||||
1. **Default Global ROS Log Directory** : Global logs are typically recorded in the `~/.ros/log` directory. Here, `~` represents the user's home directory.
|
||||
2. **Workspace-Specific Log Directories** : In some cases, ROS nodes may log to specific directories within their workspace. This can often be achieved by setting the `ROS_LOG_DIR` environment variable.
|
||||
|
||||
For the underlying Orbbec SDK, the log level can be configured via the `log_level` field in the `common.yaml` file.
|
||||
|
||||
## How to Quickly Modify the Default Resolution
|
||||
|
||||
How to Quickly Modify the Default Resolution, Video Format, and Frame Rate Parameters of a Product?
|
||||
|
||||
1.Locate the corresponding product yaml configuration file, such as gemini330_series.yaml, in the orbbec_camera/config directory.
|
||||
2.Open the corresponding product yaml configuration file, such as gemini330_series.yaml, and modify the resolution, format, and frame rate settings for the video stream.
|
||||
|
||||
For example:
|
||||
|
||||
|
||||
|
||||
3.Compile and Run
|
||||
|
||||
```
|
||||
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
|
||||
source install/setup.bash
|
||||
ros2 launch orbbec_camera orbbec_camera.launch.py config_file_path:=gemini330_series.yaml
|
||||
```
|
||||
|
||||
## No data stream from multiple cameras
|
||||
|
||||
**Insufficient Power Supply**:
|
||||
|
||||
- Ensure that each camera is connected to a separate hub.
|
||||
- Use a powered hub to provide sufficient power to each camera.
|
||||
|
||||
**High Resolution**:
|
||||
|
||||
- Try lowering the resolution to resolve data stream issues.
|
||||
|
||||
**Increase usbfs_memory_mb Value**:
|
||||
|
||||
- Increase the `usbfs_memory_mb` value to 128MB (this is a reference value and can be adjusted based on your system’s needs)
|
||||
by running the following command:
|
||||
|
||||
```bash
|
||||
echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
|
||||
```
|
||||
|
||||
- To make this change permanent, check [this link](https://github.com/OpenKinect/libfreenect2/issues/807).
|
||||
|
||||
## Additional troubleshooting
|
||||
|
||||
- If you encounter other issues, set the `log_level` parameter to `debug`. This will generate an SDK log file in the running directory: `Log/OrbbecSDK.log.txt`.
|
||||
Please provide this file to the support team for further assistance.
|
||||
- If firmware logs are required, set `enable_heartbeat` to `true` to activate this feature.
|
||||
|
||||
## Why are there so many yaml files?
|
||||
|
||||
- Different yaml files have varying default resolutions and image formats.
|
||||
- To simplify usage, each camera has its own yaml file.
|
||||
Executable
+31
@@ -0,0 +1,31 @@
|
||||
.. 这一页是模块目录树
|
||||
|
||||
|
||||
.. image:: ../image/product_h5.png
|
||||
|
||||
======================================================
|
||||
|
||||
|
||||
Help center
|
||||
======================================================
|
||||
|
||||
This section offers insights into common issues encountered during Orbbec SDK ROS2 development, along with their solutions, ensuring smoother progress in robotics projects.
|
||||
|
||||
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
:caption: This Section Covers:
|
||||
|
||||
|
||||
FAQ.md
|
||||
issues.md
|
||||
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. image:: ../image/product_h1.png
|
||||
Executable
+5
@@ -0,0 +1,5 @@
|
||||
# Issue
|
||||
|
||||
Regarding issues with OrbbecSDK_ROS 2, please refer to the detailed descriptions on the GitHub issue page for reference:
|
||||
|
||||
[https://github.com/orbbec/OrbbecSDK_ROS2/issues](https://github.com/orbbec/OrbbecSDK_ROS2/issues)
|
||||
Executable
+15
@@ -0,0 +1,15 @@
|
||||
# Purchase link
|
||||
|
||||
Purchase channels:
|
||||
|
||||
Taobao Direct Enterprise Store:[Click to go to the mall](https://shop142544700.taobao.com/)
|
||||
|
||||
JD.com Direct Flagship Store：[Click to go to the mall](https://mall.jd.com/index-1000467272.html)
|
||||
|
||||
Gemini2 VL Camera: [Click to purchase on JD.com](https://item.jd.com/100063076495.html)
|
||||
|
||||
Official Website Purchase Link：[Click to go to the official product area](https://www.orbbec.com/products)
|
||||
|
||||
Gemini2 VL Camera: [Click to purchase on the official website](https://www.orbbec.com/products/stereo-vision-camera/gemini-335l)
|
||||
|
||||
G335L Camera: [Click to purchase on the official website](https://www.orbbec.com/products/stereo-vision-camera/gemini-335l)
|
||||
+12
@@ -0,0 +1,12 @@
|
||||
# Technical support
|
||||
|
||||
Developer Community Technical Support:
|
||||
|
||||
Orbbec
|
||||
Email: [[email protected]](https://file+10-002e8-002e190-002e12.vscode-resource.vscode-cdn.net/guojia/OrbbecSDK_ROS2/docs/source/mailto:[email protected])
|
||||
|
||||
3D Vision Developer Community: [developer.orbbec.com.cn/](https://developer.orbbec.com.cn/)
|
||||
|
||||
Orbbec Official Website: Chinese: [www.orbbec.com.cn](https://www.orbbec.com.cn/) English: [www.orbbec.com](https://www.orbbec.com/)
|
||||
|
||||
Orbbec Official ad
|
||||
Executable
+14
@@ -0,0 +1,14 @@
|
||||
## OrbbecSDK_ROS2 license
|
||||
|
||||
Copyright 2024 Orbbec Ltd.
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with
|
||||
the License. You may obtain a copy of the License at
|
||||
|
||||
[http://www.apache.org/licenses/LICENSE-2.0](http://www.apache.org/licenses/LICENSE-2.0)
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "
|
||||
AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific
|
||||
language governing permissions and limitations under the License.
|
||||
|
||||
Other names and brands may be claimed as the property of others
|
||||
Executable
+28
@@ -0,0 +1,28 @@
|
||||
.. 这一页是模块目录树
|
||||
|
||||
|
||||
.. image:: ../image/product_h5.png
|
||||
|
||||
======================================================
|
||||
|
||||
|
||||
License
|
||||
======================================================
|
||||
|
||||
Copyright 2024 Orbbec Ltd.
|
||||
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. toctree::
|
||||
:maxdepth: 2
|
||||
:caption: This Section Covers:
|
||||
|
||||
|
||||
license.md
|
||||
|
||||
|
||||
======================================================
|
||||
|
||||
.. image:: ../image/product_h1.png
|
||||
Executable
+1115
File diff suppressed because it is too large
Load Diff
Executable
+135
@@ -0,0 +1,135 @@
|
||||
/* 让表格自动拉伸到满宽度 */
|
||||
table {
|
||||
width: 100%;
|
||||
margin-left: auto;
|
||||
margin-right: auto;
|
||||
}
|
||||
|
||||
/* 让表格中的每个 <th> 和 <td> 也自动拉伸 */
|
||||
th,
|
||||
td {
|
||||
width: auto;
|
||||
}
|
||||
|
||||
ul {
|
||||
width: 100%;
|
||||
/* 列表宽度占满整个容器 */
|
||||
}
|
||||
|
||||
|
||||
/* 修改 Sphinx Theme 项目标题的字体大小 Book和rtd 均OK */
|
||||
.wy-side-nav-search>a {
|
||||
font-size: 16px;
|
||||
}
|
||||
|
||||
/* 修改项目标题的字体大小 Book和rtd 均OK*/
|
||||
.wy-side-nav-search>div.version {
|
||||
font-size: 16px;
|
||||
}
|
||||
|
||||
|
||||
.sidebar-logo {
|
||||
width: 500px;
|
||||
/* 或者使用百分比 */
|
||||
height: auto;
|
||||
max-width: 90%;
|
||||
max-height: 90%;
|
||||
}
|
||||
|
||||
|
||||
.sidebar-content {
|
||||
line-height: 1.0;
|
||||
/* 行间距是字体大小的1.5倍 */
|
||||
}
|
||||
|
||||
.sidebar {
|
||||
padding: 20px;
|
||||
/* 内边距 */
|
||||
margin-bottom: 20px;
|
||||
/* 外边距 */
|
||||
}
|
||||
|
||||
.sidebar-text {
|
||||
font-size: 30px;
|
||||
}
|
||||
/* 修改侧边栏的背景颜色 */
|
||||
.wy-nav-side {
|
||||
background-color: #cecece !important;
|
||||
}
|
||||
|
||||
/* 针对导航栏链接的选择器 */
|
||||
.wy-nav-side a {
|
||||
color: #000000;
|
||||
/* 修改为您需要的颜色 */
|
||||
}
|
||||
|
||||
/* 鼠标悬停位置 hover 和 激活位置active 状态的样式 */
|
||||
/* .wy-nav-side a:hover {
|
||||
background-color: #ebebeb !important;
|
||||
} */
|
||||
|
||||
/* .wy-nav-side .current li.toctree-l1 a:hover,
|
||||
.wy-nav-side .current li.toctree-l2 a:hover,
|
||||
.wy-nav-side .current li.toctree-l3 a:hover {
|
||||
background-color: #ebebeb !important;
|
||||
color: #108bf0 !important;
|
||||
font-weight: bold !important;
|
||||
} */
|
||||
.wy-nav-side .current li[class^="toctree-l"] a:hover {
|
||||
background-color: #ebebeb !important;
|
||||
color: #108bf0 !important;
|
||||
font-weight: bold !important;
|
||||
}
|
||||
|
||||
/* .wy-nav-side .current li[class^="toctree-l"] a:active {
|
||||
background-color: #ffffff !important;
|
||||
color: #108bf0 !important;
|
||||
font-weight: bold !important;
|
||||
}
|
||||
|
||||
*/
|
||||
/* 当前活动项的颜色 */
|
||||
.wy-nav-side .current>a {
|
||||
color: #108bf0 !important;
|
||||
font-weight: bold !important;
|
||||
}
|
||||
|
||||
|
||||
h1.wy-banner-title {
|
||||
color: #0267da !important;
|
||||
}
|
||||
|
||||
/* 如果也需要修改小标题 */
|
||||
h2.wy-banner-subtitle {
|
||||
color: #7b7b7b !important;
|
||||
}
|
||||
|
||||
.wy-side-nav-search>a {
|
||||
color: #ffffff !important;
|
||||
}
|
||||
|
||||
/* 调整最大宽度 OK */
|
||||
.wy-nav-content {
|
||||
max-width: 1100px;
|
||||
}
|
||||
|
||||
|
||||
/* 设置选中标题的背景色 */
|
||||
.wy-menu-vertical li.current>a {
|
||||
background-color: #e9e9e9 !important;
|
||||
/* 你可以选择任何颜色 */
|
||||
color: #ffffff;
|
||||
/* 可选：设置选中标题的文本颜色 */
|
||||
}
|
||||
|
||||
/* 设置选中标题下所有子标题（包括二级和三级）的背景色 */
|
||||
/* .wy-menu-vertical li.current ul li a,
|
||||
.wy-menu-vertical li.current li.current ul li a {
|
||||
background-color: #ffffff !important;
|
||||
} */
|
||||
.wy-menu-vertical li.toctree-l1.current>ul li.toctree-l2>a,
|
||||
.wy-menu-vertical li.toctree-l2.current>ul li.toctree-l3>a,
|
||||
.wy-menu-vertical li.toctree-l3.current>ul li.toctree-l4>a {
|
||||
background-color: #ffffff ;
|
||||
|
||||
}
|
||||
Executable
+34
@@ -0,0 +1,34 @@
|
||||
// custom.js 可以禁止自动折叠，但不能跳转
|
||||
// document.addEventListener('DOMContentLoaded', function () {
|
||||
// // 展开所有侧边栏目录项
|
||||
// var toctreeItems = document.querySelectorAll('.toctree-l1');
|
||||
// toctreeItems.forEach(function (item) {
|
||||
// item.classList.add('current');
|
||||
// });
|
||||
|
||||
// // 监听点击事件，确保点击标题时不会折叠其他标题，并且能够跳转到相应的文档部分
|
||||
// document.querySelectorAll('.toctree-l1 a').forEach(function (link) {
|
||||
// link.addEventListener('click', function (event) {
|
||||
// // 阻止默认的折叠行为
|
||||
// event.preventDefault();
|
||||
// // 展开点击的标题
|
||||
// var parentLi = this.closest('li');
|
||||
// parentLi.classList.add('current');
|
||||
// // 移除其他同级目录项的 'current' 类
|
||||
// parentLi.parentElement.children.forEach(function (sibling) {
|
||||
// if (sibling !== parentLi) {
|
||||
// sibling.classList.remove('current');
|
||||
// }
|
||||
// });
|
||||
// // 跳转到相应的文档部分
|
||||
// var target = this.getAttribute('href');
|
||||
// if (target.startsWith('#')) {
|
||||
// document.querySelector(target).scrollIntoView();
|
||||
// } else {
|
||||
// // 如果链接不是锚点，则在新窗口或当前窗口打开链接
|
||||
// window.open(target, '_blank');
|
||||
// }
|
||||
// });
|
||||
// });
|
||||
// });
|
||||
|
||||
+1
File diff suppressed because one or more lines are too long
|
After Width: | Height: | Size: 22 KiB |
+1
File diff suppressed because one or more lines are too long
|
After Width: | Height: | Size: 34 KiB |
Executable
BIN
Binary file not shown.
|
After Width: | Height: | Size: 49 KiB |
Executable
BIN
Binary file not shown.
|
After Width: | Height: | Size: 7.2 KiB |
Executable
BIN
Binary file not shown.
|
After Width: | Height: | Size: 300 KiB |
+53
@@ -0,0 +1,53 @@
|
||||
<svg width="240" height="45" viewBox="0 0 240 45" fill="none" xmlns="http://www.w3.org/2000/svg">
|
||||
<path d="M132.524 33.6127C132.524 33.3717 132.524 33.1909 132.524 33.0252C132.524 26.3818 132.524 19.7534 132.524 13.11C132.524 12.5074 132.524 12.5074 133.097 12.5074C138.4 12.5074 143.717 12.5074 149.02 12.5225C150.692 12.5225 152.319 12.7786 153.871 13.4113C155.016 13.8632 155.995 14.5261 156.793 15.4902C158.571 17.6444 158.36 20.4012 156.281 22.2541C156.025 22.4801 155.769 22.676 155.468 22.932C155.633 23.0676 155.769 23.1731 155.904 23.2936C158.586 25.4478 158.737 28.7921 156.251 31.1723C154.925 32.4377 153.313 33.0855 151.536 33.3566C150.496 33.5224 149.427 33.6127 148.372 33.6278C143.25 33.6579 138.128 33.6429 133.006 33.6429C132.886 33.6127 132.735 33.6127 132.524 33.6127ZM136.727 29.9822C136.953 29.9822 137.134 29.9822 137.33 29.9822C140.96 29.9822 144.606 29.9822 148.237 29.9822C148.915 29.9822 149.607 29.9671 150.285 29.8918C151.265 29.8014 152.199 29.5604 153.027 29.003C153.494 28.6867 153.856 28.2799 153.946 27.6924C154.082 26.8337 153.705 26.1106 152.831 25.6135C151.701 24.9657 150.466 24.7398 149.186 24.7398C146.052 24.7247 142.934 24.7398 139.801 24.7398C139.635 24.7398 139.469 24.7398 139.288 24.7398C139.288 23.5045 139.288 22.3295 139.288 21.1092C139.499 21.1092 139.665 21.1092 139.846 21.1092C142.828 21.1092 145.811 21.1243 148.794 21.0942C149.487 21.0942 150.195 21.049 150.873 20.9134C151.566 20.7628 152.259 20.5519 152.876 20.2204C154.383 19.407 154.368 17.8252 152.892 16.9665C152.575 16.7857 152.244 16.605 151.897 16.5447C150.858 16.379 149.803 16.153 148.749 16.153C144.922 16.1078 141.096 16.138 137.27 16.138C137.104 16.138 136.923 16.153 136.742 16.1681C136.727 20.7628 136.727 25.3273 136.727 29.9822Z" fill="#4A4F54"/>
|
||||
<path d="M183.849 22.917C184.195 23.2183 184.542 23.4895 184.843 23.8058C186.756 25.7341 186.892 28.4909 185.144 30.5848C183.879 32.0913 182.207 32.9048 180.324 33.2512C179.194 33.4621 178.019 33.5977 176.859 33.5977C171.677 33.6279 166.51 33.6128 161.328 33.6128C161.192 33.6128 161.071 33.5977 160.906 33.5977C160.891 33.417 160.876 33.2362 160.876 33.0705C160.876 26.3969 160.876 19.7384 160.876 13.0649C160.876 12.7787 160.815 12.4924 161.282 12.4924C166.675 12.5075 172.068 12.5075 177.477 12.5226C179.134 12.5226 180.746 12.7937 182.282 13.4114C183.502 13.9085 184.557 14.6466 185.34 15.7162C186.847 17.7349 186.666 20.2205 184.888 21.9981C184.587 22.3145 184.225 22.6007 183.849 22.917ZM165.079 29.9823C165.32 29.9823 165.5 29.9823 165.696 29.9823C169.342 29.9823 173.002 29.9823 176.648 29.9823C177.311 29.9823 177.989 29.9672 178.652 29.8919C179.616 29.8015 180.535 29.5605 181.363 29.0181C182.011 28.5963 182.388 28.0088 182.312 27.1953C182.237 26.3969 181.755 25.9149 181.092 25.5533C179.992 24.9507 178.802 24.7248 177.567 24.7248C174.419 24.7097 171.285 24.7248 168.137 24.7248C167.971 24.7248 167.805 24.7248 167.624 24.7248C167.624 23.4744 167.624 22.2994 167.624 21.0942C167.85 21.0942 168.016 21.0942 168.182 21.0942C171.165 21.0942 174.147 21.1093 177.13 21.0792C177.823 21.0792 178.531 21.0038 179.209 20.8984C180.038 20.7779 180.821 20.5218 181.514 20.0247C182.599 19.2262 182.599 17.9006 181.499 17.1473C181.107 16.8762 180.67 16.6352 180.203 16.5448C179.164 16.3489 178.109 16.1531 177.07 16.138C173.243 16.0928 169.417 16.123 165.591 16.123C165.425 16.123 165.259 16.138 165.064 16.1531C165.079 20.7628 165.079 25.3424 165.079 29.9823Z" fill="#4A4F54"/>
|
||||
<path d="M122.763 27.3157C124.013 28.4004 125.203 29.4248 126.378 30.4491C127.568 31.4735 128.743 32.4979 130.009 33.5826C129.828 33.6127 129.722 33.6277 129.617 33.6277C127.824 33.6277 126.032 33.6428 124.254 33.6127C124.043 33.6127 123.787 33.4922 123.606 33.3415C121.557 31.5639 119.524 29.7863 117.505 27.9936C117.249 27.7677 116.993 27.6773 116.646 27.6773C114.477 27.6923 112.308 27.6773 110.139 27.6773C109.973 27.6773 109.792 27.6773 109.596 27.6773C109.596 26.4571 109.596 25.282 109.596 24.0468C109.762 24.0468 109.928 24.0468 110.093 24.0468C113.182 24.0468 116.255 24.0468 119.343 24.0468C120.578 24.0468 121.783 23.881 122.913 23.3538C123.998 22.8567 124.841 22.1185 125.067 20.8983C125.384 19.1508 124.811 17.5992 123.064 16.8008C122.16 16.394 121.196 16.1982 120.232 16.1982C115.908 16.168 111.585 16.1831 107.276 16.1831C107.216 16.1831 107.156 16.1982 107.05 16.2132C107.05 21.998 107.05 27.7827 107.05 33.5976C105.634 33.5976 104.279 33.5976 102.893 33.5976C102.893 26.5926 102.893 19.6027 102.893 12.5827C103.013 12.5676 103.134 12.5526 103.239 12.5526C108.738 12.5526 114.236 12.5224 119.735 12.5827C122.115 12.6128 124.39 13.1552 126.453 14.4206C130.219 16.7104 130.732 22.465 127.026 25.3423C125.911 26.216 124.661 26.7885 123.29 27.1651C123.154 27.1952 123.019 27.2404 122.763 27.3157Z" fill="#4A4F54"/>
|
||||
<path d="M84.7096 33.6128C83.2333 33.6128 81.772 33.673 80.2957 33.5977C77.2979 33.4471 74.6164 32.4679 72.3869 30.404C70.1423 28.3251 69.1179 25.7491 69.133 22.7061C69.148 17.2528 73.0045 14.2851 76.6953 13.1552C78.021 12.7485 79.3919 12.5376 80.7778 12.5376C83.5195 12.5225 86.2763 12.4773 89.018 12.5527C92.0309 12.6431 94.8028 13.5168 97.1077 15.5354C99.1715 17.3432 100.166 19.633 100.286 22.3446C100.572 28.7018 95.8272 32.3323 91.5941 33.2211C90.4793 33.4471 89.3193 33.5224 88.1744 33.5826C87.0145 33.6429 85.8545 33.5977 84.6795 33.5977C84.7096 33.6278 84.7096 33.6128 84.7096 33.6128ZM84.7397 29.9822C86.0654 29.9822 87.3911 29.9973 88.7168 29.9822C89.9972 29.9521 91.2325 29.681 92.3774 29.1085C94.5166 28.0239 95.9176 26.3818 96.1435 23.9414C96.3996 21.2599 95.4355 19.1057 93.1909 17.5842C91.8502 16.6803 90.3588 16.2284 88.762 16.2133C86.0805 16.1681 83.4141 16.1681 80.7326 16.2133C79.0153 16.2435 77.4335 16.7858 76.0174 17.7951C72.402 20.3561 72.3116 26.2312 76.4091 28.7168C77.7197 29.5152 79.1358 29.937 80.6573 29.9822C81.998 30.0124 83.3689 29.9822 84.7397 29.9822Z" fill="#4A4F54"/>
|
||||
<path d="M189.137 12.5677C196.594 12.5677 204.035 12.5677 211.492 12.5677C211.492 13.7729 211.492 14.9479 211.492 16.1682C205.421 16.1682 199.38 16.1682 193.294 16.1682C193.294 20.7779 193.294 25.3575 193.294 29.9973C199.35 29.9973 205.406 29.9973 211.492 29.9973C211.492 31.2175 211.492 32.3926 211.492 33.5977C204.05 33.5977 196.609 33.5977 189.122 33.5977C189.137 26.5927 189.137 19.5878 189.137 12.5677Z" fill="#4A4F54"/>
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||||
<path d="M16.7089 33.206C16.1967 33.2211 15.7448 33.0855 15.3682 32.7541C14.9163 32.3473 14.9163 31.7899 15.3531 31.3681C16.0009 30.7354 17.3266 30.7204 17.9894 31.338C18.4865 31.7899 18.4715 32.3774 17.9593 32.8143C17.5977 33.1005 17.1609 33.2361 16.7089 33.206Z" fill="#0078F0"/>
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||||
</svg>
|
||||
|
After Width: | Height: | Size: 21 KiB |
Executable
+212
@@ -0,0 +1,212 @@
|
||||
// 创建一个自执行的函数，用于封装模块定义和执行逻辑
|
||||
!function (n) {
|
||||
// 定义模块存储对象和模块导出相关函数
|
||||
var e = {};
|
||||
function t(i) {
|
||||
// 模块缓存逻辑，避免重复执行
|
||||
if (e[i]) return e[i].exports;
|
||||
var o = e[i] = { i: i, l: !1, exports: {} };
|
||||
// 执行模块定义函数并缓存结果
|
||||
return n[i].call(o.exports, o, o.exports, t),
|
||||
o.l = !0,
|
||||
o.exports
|
||||
}
|
||||
// 初始化模块系统，定义模块数组、缓存对象、导出函数等
|
||||
t.m = n,
|
||||
t.c = e,
|
||||
t.d = function (n, e, i) {
|
||||
t.o(n, e) || Object.defineProperty(n, e, { enumerable: !0, get: i })
|
||||
},
|
||||
t.r = function (n) {
|
||||
"undefined" != typeof Symbol && Symbol.toStringTag && Object.defineProperty(n, Symbol.toStringTag, { value: "Module" }),
|
||||
Object.defineProperty(n, "__esModule", { value: !0 })
|
||||
},
|
||||
t.t = function (n, e) {
|
||||
if (1 & e && (n = t(n)), 8 & e) return n;
|
||||
if (4 & e && "object" == typeof n && n && n.__esModule) return n;
|
||||
var i = Object.create(null);
|
||||
if (t.r(i), Object.defineProperty(i, "default", { enumerable: !0, value: n }),
|
||||
2 & e && "string" != typeof n) for (var o in n)
|
||||
t.d(i, o, function (e) { return n[e] }.bind(null, o));
|
||||
return i
|
||||
},
|
||||
t.n = function (n) {
|
||||
var e = n && n.__esModule ? function () { return n.default } : function () { return n };
|
||||
return t.d(e, "a", e), e
|
||||
},
|
||||
t.o = function (n, e) { return Object.prototype.hasOwnProperty.call(n, e) },
|
||||
t.p = "",
|
||||
// 执行入口模块
|
||||
t(t.s = 0)
|
||||
}([
|
||||
// 定义模块数组，每个模块是一个函数
|
||||
function (n, e, t) {
|
||||
// 执行依赖模块并导出结果
|
||||
t(1),
|
||||
n.exports = t(3)
|
||||
},
|
||||
function (n, e, t) {
|
||||
// 根据环境获取jQuery对象
|
||||
(function () {
|
||||
var e = "undefined" != typeof window ? window.jQuery : t(2);
|
||||
// 定义并导出ThemeNav对象
|
||||
n.exports.ThemeNav = {
|
||||
navBar: null,
|
||||
win: null,
|
||||
winScroll: !1,
|
||||
winResize: !1,
|
||||
linkScroll: !1,
|
||||
winPosition: 0,
|
||||
winHeight: null,
|
||||
docHeight: null,
|
||||
isRunning: !1,
|
||||
// 启用导航栏功能
|
||||
enable: function (n) {
|
||||
var t = this;
|
||||
void 0 === n && (n = !0),
|
||||
t.isRunning || (t.isRunning = !0,
|
||||
e((function (e) {
|
||||
t.init(e),
|
||||
t.reset(),
|
||||
t.win.on("hashchange", t.reset),
|
||||
n && t.win.on("scroll", (function () {
|
||||
t.linkScroll || t.winScroll || (t.winScroll = !0,
|
||||
requestAnimationFrame((function () {
|
||||
t.onScroll()
|
||||
})))
|
||||
})),
|
||||
t.win.on("resize", (function () {
|
||||
t.winResize || (t.winResize = !0,
|
||||
requestAnimationFrame((function () {
|
||||
t.onResize()
|
||||
})))
|
||||
})),
|
||||
t.onResize()
|
||||
})))
|
||||
},
|
||||
// 启用粘性导航栏
|
||||
enableSticky: function () {
|
||||
this.enable(!0)
|
||||
},
|
||||
// 初始化导航栏
|
||||
init: function (n) {
|
||||
n(document);
|
||||
var e = this;
|
||||
this.navBar = n("div.wy-side-scroll:first"),
|
||||
this.win = n(window),
|
||||
n(document).on("click", "[data-toggle='wy-nav-top']", (function () {
|
||||
n("[data-toggle='wy-nav-shift']").toggleClass("shift"),
|
||||
n("[data-toggle='rst-versions']").toggleClass("shift")
|
||||
})).on("click", ".wy-menu-vertical .current ul li a", (function () {
|
||||
var t = n(this);
|
||||
n("[data-toggle='wy-nav-shift']").removeClass("shift"),
|
||||
n("[data-toggle='rst-versions']").toggleClass("shift"),
|
||||
e.toggleCurrent(t),
|
||||
e.hashChange()
|
||||
})).on("click", "[data-toggle='rst-current-version']", (function () {
|
||||
n("[data-toggle='rst-versions']").toggleClass("shift-up")
|
||||
})),
|
||||
n("table.docutils:not(.field-list,.footnote,.citation)").wrap("<div class='wy-table-responsive'></div>"),
|
||||
n("table.docutils.footnote").wrap("<div class='wy-table-responsive footnote'></div>"),
|
||||
n("table.docutils.citation").wrap("<div class='wy-table-responsive citation'></div>"),
|
||||
n(".wy-menu-vertical ul").not(".simple").siblings("a").each((function () {
|
||||
var t = n(this);
|
||||
expand = n('<button class="toctree-expand" title="Open/close menu"></button>'),
|
||||
expand.on("click", (function (n) {
|
||||
return e.toggleCurrent(t),
|
||||
n.stopPropagation(),
|
||||
!1
|
||||
})),
|
||||
t.prepend(expand)
|
||||
}))
|
||||
},
|
||||
// 重置导航栏状态
|
||||
reset: function () {
|
||||
var n = encodeURI(window.location.hash) || "#";
|
||||
try {
|
||||
var e = $(".wy-menu-vertical"),
|
||||
t = e.find('[href="' + n + '"]');
|
||||
if (0 === t.length) {
|
||||
var i = $('.document [id="' + n.substring(1) + '"]').closest("div.section");
|
||||
0 === (t = e.find('[href="#' + i.attr("id") + '"]')).length && (t = e.find('[href="#"]'))
|
||||
}
|
||||
if (t.length > 0) {
|
||||
$(".wy-menu-vertical .current").removeClass("current").attr("aria-expanded", "false"),
|
||||
t.addClass("current").attr("aria-expanded", "true"),
|
||||
t.closest("li.toctree-l1").parent().addClass("current").attr("aria-expanded", "true");
|
||||
for (let n = 1; n <= 10; n++)
|
||||
t.closest("li.toctree-l" + n).addClass("current").attr("aria-expanded", "true");
|
||||
t[0].scrollIntoView()
|
||||
}
|
||||
} catch (n) {
|
||||
console.log("Error expanding nav for anchor", n)
|
||||
}
|
||||
},
|
||||
// 滚动事件处理
|
||||
onScroll: function () {
|
||||
this.winScroll = !1;
|
||||
var n = this.win.scrollTop(),
|
||||
e = n + this.winHeight,
|
||||
t = this.navBar.scrollTop() + (n - this.winPosition);
|
||||
n < 0 || e > this.docHeight || (this.navBar.scrollTop(t),
|
||||
this.winPosition = n)
|
||||
},
|
||||
// 窗口大小变化事件处理
|
||||
onResize: function () {
|
||||
this.winResize = !1,
|
||||
this.winHeight = this.win.height(),
|
||||
this.docHeight = $(document).height()
|
||||
},
|
||||
// hash变化事件处理
|
||||
hashChange: function () {
|
||||
this.linkScroll = !0,
|
||||
this.win.one("hashchange", (function () {
|
||||
this.linkScroll = !1
|
||||
}))
|
||||
},
|
||||
// 切换当前导航项
|
||||
toggleCurrent: function (n) {
|
||||
var e = n.closest("li");
|
||||
// 20201030 a
|
||||
e.siblings("li.current").removeClass("current").attr("aria-expanded", "false"),
|
||||
e.siblings().find("li.current").removeClass("current").attr("aria-expanded", "false");
|
||||
var t = e.find("> ul li");
|
||||
t.length && (t.removeClass("current").attr("aria-expanded", "false"),
|
||||
e.toggleClass("current").attr("aria-expanded", (function (n, e) {
|
||||
return "true" == e ? "false" : "true"
|
||||
})))
|
||||
}
|
||||
},
|
||||
"undefined" != typeof window && (window.SphinxRtdTheme = {
|
||||
Navigation: n.exports.ThemeNav,
|
||||
StickyNav: n.exports.ThemeNav
|
||||
}),
|
||||
// 实现跨浏览器的requestAnimationFrame和cancelAnimationFrame方法
|
||||
function () {
|
||||
for (var n = 0, e = ["ms", "moz", "webkit", "o"], t = 0; t < e.length && !window.requestAnimationFrame; ++t)
|
||||
window.requestAnimationFrame = window[e[t] + "RequestAnimationFrame"],
|
||||
window.cancelAnimationFrame = window[e[t] + "CancelAnimationFrame"] || window[e[t] + "CancelRequestAnimationFrame"];
|
||||
window.requestAnimationFrame || (window.requestAnimationFrame = function (e, t) {
|
||||
var i = (new Date).getTime(),
|
||||
o = Math.max(0, 16 - (i - n)),
|
||||
r = window.setTimeout((function () {
|
||||
e(i + o)
|
||||
}), o);
|
||||
return n = i + o,
|
||||
r
|
||||
}),
|
||||
window.cancelAnimationFrame || (window.cancelAnimationFrame = function (n) {
|
||||
clearTimeout(n)
|
||||
})
|
||||
}()
|
||||
}).call(window)
|
||||
},
|
||||
function (n, e) {
|
||||
// 导出jQuery对象
|
||||
n.exports = jQuery
|
||||
},
|
||||
function (n, e, t) {
|
||||
// 未定义的模块体
|
||||
}
|
||||
]);
|
||||
|
||||
Executable
BIN
Binary file not shown.
|
After Width: | Height: | Size: 17 KiB |
Executable
+292
@@ -0,0 +1,292 @@
|
||||
{# TEMPLATE VAR SETTINGS #}
|
||||
{%- set url_root = pathto('', 1) %}
|
||||
{%- if url_root == '#' %}{% set url_root = '' %}{% endif %}
|
||||
{%- if not embedded and docstitle %}
|
||||
{%- set titlesuffix = " — "|safe + docstitle|e %}
|
||||
{%- else %}
|
||||
{%- set titlesuffix = "" %}
|
||||
{%- endif %}
|
||||
{%- set lang_attr = 'en' if language == None else (language | replace('_', '-')) %}
|
||||
{%- set sphinx_writer = 'writer-html5' if html5_doctype else 'writer-html4' -%}
|
||||
|
||||
{# Build sphinx_version_info tuple from sphinx_version string in pure Jinja #}
|
||||
{%- set (_ver_major, _ver_minor) = (sphinx_version.split('.') | list)[:2] | map('int') -%}
|
||||
{%- set sphinx_version_info = (_ver_major, _ver_minor, -1) -%}
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html class="{{ sphinx_writer }}" lang="{{ lang_attr }}" {% if sphinx_version_info>= (7, 2) %} data-content_root="{{
|
||||
content_root }}"{% endif %}>
|
||||
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
{{- metatags }}
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
{%- block htmltitle %}
|
||||
<title>{{ title|striptags|e }}{{ titlesuffix }}</title>
|
||||
{%- endblock -%}
|
||||
|
||||
{#- CSS #}
|
||||
{%- if sphinx_version_info
|
||||
< (4, 0) -%} <link rel="stylesheet" href="{{ pathto('_static/' + style, 1) }}" type="text/css" />
|
||||
<link rel="stylesheet" href="{{ pathto('_static/pygments.css', 1) }}" type="text/css" />
|
||||
{%- endif %}
|
||||
{%- for css_file in css_files %}
|
||||
{%- if css_file|attr("filename") %}
|
||||
{{ css_tag(css_file) }}
|
||||
{%- else %}
|
||||
<link rel="stylesheet" href="{{ pathto(css_file, 1)|escape }}" type="text/css" />
|
||||
{%- endif %}
|
||||
{%- endfor %}
|
||||
|
||||
{# "extra_css_files" is a theme option and it's always a string #}
|
||||
{%- for css_file in extra_css_files %}
|
||||
<link rel="stylesheet" href="{{ pathto(css_file, 1)|escape }}" type="text/css" />
|
||||
{%- endfor -%}
|
||||
|
||||
{#- FAVICON
|
||||
favicon_url is the only context var necessary since Sphinx 4.
|
||||
In Sphinx
|
||||
<4, we use favicon but need to prepend path info. #} {%- set _favicon_url=favicon_url | default(pathto('_static/' +
|
||||
(favicon or "" ), 1)) %} {%- if favicon_url or favicon %} <link rel="shortcut icon" href="{{ _favicon_url }}" />
|
||||
{%- endif %}
|
||||
|
||||
{#- CANONICAL URL (deprecated) #}
|
||||
{%- if theme_canonical_url and not pageurl %}
|
||||
<link rel="canonical" href="{{ theme_canonical_url }}{{ pagename }}.html" />
|
||||
{%- endif -%}
|
||||
|
||||
{#- CANONICAL URL #}
|
||||
{%- if pageurl %}
|
||||
<link rel="canonical" href="{{ pageurl|e }}" />
|
||||
{%- endif -%}
|
||||
|
||||
{#- JAVASCRIPTS #}
|
||||
{%- block scripts %}
|
||||
<!--[if lt IE 9]>
|
||||
<script src="{{ pathto('_static/js/html5shiv.min.js', 1) }}"></script>
|
||||
<![endif]-->
|
||||
{%- if not embedded %}
|
||||
{# XXX Sphinx 1.8.0 made this an external js-file, quick fix until we refactor the template to inherert more blocks
|
||||
directly from sphinx #}
|
||||
{%- if sphinx_version_info >= (1, 8) -%}
|
||||
{%- if sphinx_version_info < (4, 0) -%} <script id="documentation_options" data-url_root="{{ url_root }}"
|
||||
src="{{ pathto('_static/documentation_options.js', 1) }}">
|
||||
</script>
|
||||
{%- endif -%}
|
||||
{%- for scriptfile in script_files %}
|
||||
{{ js_tag(scriptfile) }}
|
||||
{%- endfor %}
|
||||
{%- else %}
|
||||
<script>
|
||||
var DOCUMENTATION_OPTIONS = {
|
||||
URL_ROOT: '{{ url_root }}',
|
||||
VERSION: '{{ release|e }}',
|
||||
LANGUAGE: '{{ language }}',
|
||||
COLLAPSE_INDEX: false,
|
||||
FILE_SUFFIX: '{{ '' if no_search_suffix else file_suffix }}',
|
||||
HAS_SOURCE: {{ has_source| lower }},
|
||||
SOURCELINK_SUFFIX: '{{ sourcelink_suffix }}'
|
||||
};
|
||||
</script>
|
||||
{%- for scriptfile in script_files %}
|
||||
<script src="{{ pathto(scriptfile, 1) }}"></script>
|
||||
{%- endfor %}
|
||||
{%- endif %}
|
||||
<script src="{{ pathto('_static/js/theme.js', 1) }}"></script>
|
||||
|
||||
{#- OPENSEARCH #}
|
||||
{%- if use_opensearch %}
|
||||
<link rel="search" type="application/opensearchdescription+xml"
|
||||
title="{% trans docstitle=docstitle|e %}Search within {{ docstitle }}{% endtrans %}"
|
||||
href="{{ pathto('_static/opensearch.xml', 1) }}" />
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
{%- endblock %}
|
||||
|
||||
{%- block linktags %}
|
||||
{%- if hasdoc('about') %}
|
||||
<link rel="author" title="{{ _('About these documents') }}" href="{{ pathto('about') }}" />
|
||||
{%- endif %}
|
||||
{%- if hasdoc('genindex') %}
|
||||
<link rel="index" title="{{ _('Index') }}" href="{{ pathto('genindex') }}" />
|
||||
{%- endif %}
|
||||
{%- if hasdoc('search') %}
|
||||
<link rel="search" title="{{ _('Search') }}" href="{{ pathto('search') }}" />
|
||||
{%- endif %}
|
||||
{%- if hasdoc('copyright') %}
|
||||
<link rel="copyright" title="{{ _('Copyright') }}" href="{{ pathto('copyright') }}" />
|
||||
{%- endif %}
|
||||
{%- if next %}
|
||||
<link rel="next" title="{{ next.title|striptags|e }}" href="{{ next.link|e }}" />
|
||||
{%- endif %}
|
||||
{%- if prev %}
|
||||
<link rel="prev" title="{{ prev.title|striptags|e }}" href="{{ prev.link|e }}" />
|
||||
{%- endif %}
|
||||
{%- endblock %}
|
||||
{%- block extrahead %} {% endblock %}
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
|
||||
{%- block extrabody %} {% endblock %}
|
||||
<div class="wy-grid-for-nav">
|
||||
{#- SIDE NAV, TOGGLES ON MOBILE #}
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" {% if theme_style_nav_header_background %}
|
||||
style="background: {{theme_style_nav_header_background}}" {% endif %}>
|
||||
{%- block sidebartitle %}
|
||||
|
||||
{# the logo helper function was removed in Sphinx 6 and deprecated since Sphinx 4 #}
|
||||
{# the master_doc variable was renamed to root_doc in Sphinx 4 (master_doc still exists in later
|
||||
Sphinx versions) #}
|
||||
{%- set _logo_url = logo_url|default(pathto('_static/' + (logo or ""), 1)) %}
|
||||
{%- set _root_doc = root_doc|default(master_doc) %}
|
||||
<a href="{{ pathto(_root_doc) }}" {% if not theme_logo_only %} class="icon icon-home" {% endif %}>
|
||||
{% if not theme_logo_only %}{{ project }}{% endif %}
|
||||
{%- if logo or logo_url %}
|
||||
<img src="{{ _logo_url }}" class="logo" alt="{{ _('Logo') }}" />
|
||||
{%- endif %}
|
||||
</a>
|
||||
|
||||
{%- if theme_display_version %}
|
||||
{%- set nav_version = version %}
|
||||
{%- if READTHEDOCS and current_version %}
|
||||
{%- set nav_version = current_version %}
|
||||
{%- endif %}
|
||||
{%- if nav_version %}
|
||||
<div class="version">
|
||||
{{ nav_version }}
|
||||
</div>
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
{%- include "searchbox.html" %}
|
||||
|
||||
{%- endblock %}
|
||||
</div>
|
||||
|
||||
{%- block navigation %}
|
||||
{#- Translators: This is an ARIA section label for the main navigation menu -#}
|
||||
<div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation"
|
||||
aria-label="{{ _('Navigation menu') }}">
|
||||
{%- block menu %}
|
||||
{%- set toctree = toctree(maxdepth=theme_navigation_depth|int,
|
||||
collapse=theme_collapse_navigation|tobool,
|
||||
includehidden=theme_includehidden|tobool,
|
||||
titles_only=theme_titles_only|tobool) %}
|
||||
{%- if toctree %}
|
||||
{{ toctree }}
|
||||
{%- else %}
|
||||
<!-- Local TOC -->
|
||||
<div class="local-toc">{{ toc }}</div>
|
||||
{%- endif %}
|
||||
{%- endblock %}
|
||||
</div>
|
||||
{%- endblock %}
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
|
||||
|
||||
{#- MOBILE NAV, TRIGGLES SIDE NAV ON TOGGLE #}
|
||||
{#- Translators: This is an ARIA section label for the navigation menu that is visible when viewing the page
|
||||
on mobile devices -#}
|
||||
<nav class="wy-nav-top" aria-label="{{ _('Mobile navigation menu') }}" {% if
|
||||
theme_style_nav_header_background %} style="background: {{theme_style_nav_header_background}}" {% endif
|
||||
%}>
|
||||
{%- block mobile_nav %}
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="{{ pathto(master_doc) }}">{{ project }}</a>
|
||||
{%- endblock %}
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
{%- block content %}
|
||||
{%- if theme_style_external_links|tobool %}
|
||||
<div class="rst-content style-external-links">
|
||||
{%- else %}
|
||||
<div class="rst-content">
|
||||
{%- endif %}
|
||||
{% include "breadcrumbs.html" %}
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
{%- block document %}
|
||||
<div itemprop="articleBody">
|
||||
{% block body %}{% endblock %}
|
||||
</div>
|
||||
{%- if self.comments()|trim %}
|
||||
<div class="articleComments">
|
||||
{%- block comments %}{% endblock %}
|
||||
</div>
|
||||
{%- endif%}
|
||||
</div>
|
||||
{%- endblock %}
|
||||
{% include "footer.html" %}
|
||||
</div>
|
||||
{%- endblock %}
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
{% include "versions.html" -%}
|
||||
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable({{ 'true' if theme_sticky_navigation | tobool else 'false' }});
|
||||
});
|
||||
</script>
|
||||
|
||||
{#- Do not conflict with RTD insertion of analytics script #}
|
||||
{%- if not READTHEDOCS %}
|
||||
{%- if theme_analytics_id %}
|
||||
<!-- Theme Analytics -->
|
||||
<script async src="https://www.googletagmanager.com/gtag/js?id={{ theme_analytics_id }}"></script>
|
||||
<script>
|
||||
window.dataLayer = window.dataLayer || [];
|
||||
function gtag() { dataLayer.push(arguments); }
|
||||
gtag('js', new Date());
|
||||
|
||||
gtag('config', '{{ theme_analytics_id }}', {
|
||||
'anonymize_ip': {{ 'true' if theme_analytics_anonymize_ip | tobool else 'false' }},
|
||||
});
|
||||
</script>
|
||||
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
{%- block footer %} {% endblock %}
|
||||
|
||||
|
||||
|
||||
{% extends "!layout.html" %}
|
||||
|
||||
{% block body %}
|
||||
{{ super() }}
|
||||
<!-- 在这里添加你的自定义内容 -->
|
||||
{% if theme_logo %}
|
||||
<div class="logoheader">
|
||||
<a href="{{ pathto(master_doc) }}">
|
||||
<img src="{{ pathto('_static/' + theme_logo, 1) }}" alt="Logo" />
|
||||
</a>
|
||||
</div>
|
||||
{% endif %}
|
||||
|
||||
<div class="document-wrapper">
|
||||
<div class="document">
|
||||
<div class="body">
|
||||
{% if pagename == 'index' %}
|
||||
<h1>{{ title }}</h1>
|
||||
{% else %}
|
||||
<h2>{{ title }}</h2>
|
||||
{% endif %}
|
||||
{{ super() }}
|
||||
</div>
|
||||
</div>
|
||||
<div class="sidebar">
|
||||
{{ sidebar }}
|
||||
</div>
|
||||
</div>
|
||||
{% endblock %}
|
||||
|
||||
</body>
|
||||
|
||||
</html>
|
||||
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Reference in New Issue
Block a user