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en/_sources/source/4_application_guide/services.md.txt
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@@ -77,6 +77,10 @@
ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/set_ir_long_exposure`
```bash
ros2 service call /camera/set_ir_long_exposure std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_ir_auto_exposure`
```bash
ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'
@@ -86,6 +90,12 @@
ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
```
* `/camera/set_ir_mirror`, `/camera/set_ir_flip`, `/camera/set_ir_rotation`
```bash
ros2 service call /camera/set_ir_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_ir_flip std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_ir_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
```
* `/camera/switch_ir`
```bash
ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'
@@ -123,6 +133,15 @@
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'
```
* `/camera/set_ptp_config` & `/camera/get_ptp_config`
```bash
ros2 service call /camera/set_ptp_config std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_ptp_config orbbec_camera_msgs/srv/GetBool '{}'
```
* `/camera/get_lrm_measure_distance`
```bash
ros2 service call /camera/get_lrm_measure_distance orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/set_fan_work_mode`
```bash
ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
@@ -152,7 +171,12 @@
* `/camera/send_software_trigger`
```bash
ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
```* `/camera/set_reset_timestamp`
```
* `/camera/set_sync_hosttime`
```bash
ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_reset_timestamp`
```bash
# Only available when time_domain param is set to device
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'
@@ -169,8 +193,29 @@
```bash
# Set DecimationFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
# Set SpatialAdvancedFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'
# Set SequenceIdFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter, filter_enable: true, filter_param: [1]}'
# Set ThresholdFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: ThresholdFilter, filter_enable: true, filter_param: [0,15999]}'
# Set NoiseRemovalFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: NoiseRemovalFilter, filter_enable: true, filter_param: [256,80]}'
# Set HardwareNoiseRemoval
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: HardwareNoiseRemoval, filter_enable: true, filter_param: []}'
# Set SpatialFastFilter
# filter_param: [radius]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialFastFilter, filter_enable: true, filter_param: [4]}'
# Set SpatialModerateFilter
# filter_param: [disp_diff, magnitude, radius]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'
```
### Data Capture & Calibration Management
en/genindex.html
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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en/source/4_application_guide/application_guide.html
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en/source/4_application_guide/compressed_image.html
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en/source/4_application_guide/coordinate_and_tf.html
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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en/source/4_application_guide/launch_parameters.html
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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</span></p>
</div>
en/source/4_application_guide/services.html
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@@ -478,6 +478,11 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</pre></div>
</div>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_long_exposure</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_long_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
</pre></div>
</div>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_auto_exposure</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
</pre></div>
@@ -489,6 +494,13 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</pre></div>
</div>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_mirror</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_ir_flip</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_ir_rotation</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_mirror<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_flip<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_rotation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 180}&#39;</span>
</pre></div>
</div>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/switch_ir</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/switch_ir<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">&#39;{data: left}&#39;</span>
</pre></div>
@@ -538,6 +550,17 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</pre></div>
</div>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ptp_config</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_ptp_config</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ptp_config<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ptp_config<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_lrm_measure_distance</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_lrm_measure_distance<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_fan_work_mode</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_fan_work_mode<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 0}&#39;</span>
</pre></div>
@@ -575,9 +598,16 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/send_software_trigger</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/send_software_trigger<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
<span class="sb">```</span>*<span class="w"> </span><span class="sb">`</span>/camera/set_reset_timestamp<span class="sb">`</span>
<span class="sb">```</span>bash
<span class="c1"># Only available when time_domain param is set to device</span>
</pre></div>
</div>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_sync_hosttime</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_sync_hosttime<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
</pre></div>
</div>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_reset_timestamp</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Only available when time_domain param is set to device</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_reset_timestamp<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
</pre></div>
</div>
@@ -596,8 +626,29 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_filter</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Set DecimationFilter</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">&#39;{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}&#39;</span>
<span class="c1"># Set SpatialAdvancedFilter</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">&#39;{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}&#39;</span>
<span class="c1"># Set SequenceIdFilter</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">&#39;{filter_name: SequenceIdFilter, filter_enable: true, filter_param: [1]}&#39;</span>
<span class="c1"># Set ThresholdFilter</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">&#39;{filter_name: ThresholdFilter, filter_enable: true, filter_param: [0,15999]}&#39;</span>
<span class="c1"># Set NoiseRemovalFilter</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">&#39;{filter_name: NoiseRemovalFilter, filter_enable: true, filter_param: [256,80]}&#39;</span>
<span class="c1"># Set HardwareNoiseRemoval</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">&#39;{filter_name: HardwareNoiseRemoval, filter_enable: true, filter_param: []}&#39;</span>
<span class="c1"># Set SpatialFastFilter</span>
<span class="c1"># filter_param: [radius]</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">&#39;{filter_name: SpatialFastFilter, filter_enable: true, filter_param: [4]}&#39;</span>
<span class="c1"># Set SpatialModerateFilter</span>
<span class="c1"># filter_param: [disp_diff, magnitude, radius]</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">&#39;{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}&#39;</span>
</pre></div>
</div>
</li>
@@ -664,7 +715,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-12-01 02:24:34.
<span class="lastupdated">Last updated on 2025-12-05 01:26:04.
</span></p>
</div>
en/source/4_application_guide/topics.html
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-12-01 02:24:34.
<span class="lastupdated">Last updated on 2025-12-05 01:26:04.
</span></p>
</div>
en/source/5_advanced_guide/advanced_guide.html
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-12-01 02:24:34.
<span class="lastupdated">Last updated on 2025-12-05 01:26:04.
</span></p>
</div>
en/source/5_advanced_guide/configuration/align_depth_color.html
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2025-12-01 02:24:34.
<span class="lastupdated">Last updated on 2025-12-05 01:26:04.
</span></p>
</div>
en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
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