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docs/source/3_start_single_camera/single_camera.rst

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+.. 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

docs/source/3_start_single_camera/start_single_camera.md

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+<!-- 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_display_gemini335_336](../image/view_display_gemini335_336.png)
+
+- 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/$ROS_DISTRO/setup.bash
+source install/setup.bash
+ros2 launch orbbec_description view_model.launch.py camera_model:=gemini335_336
+```
+
+![view_model_gemini335_336](../image/view_model_gemini335_336.png)
+
+- Or you can run rviz2 and configure it  by yourself
+
+```bash
+cd ~/ros2_ws/
+source /opt/ros/$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 "{}"
+```
+
+&nbsp;
+
+## Example visualizations
+
+Here are examples of how the visualization might appear in rviz2:
+
+- **PointCloud Visualization**
+
+![PointCloud View](../image/image1.jpg)
+
+&nbsp;
+
+- **Image Data Visualization**
+
+![Image Data View](../image/image2.jpg)
+
+&nbsp;
+
+## TF tree diagram
+
+To get the TF tree
+
+```bash
+ros2 run rqt_tf_tree rqt_tf_tree --force-discover
+```
+
+&nbsp;
+
+The TF tree diagram for the OrbbecSDK_ROS2 is illustrated below:
+![single_cam_tf.png](../image/single_cam_tf.png)