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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
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<h1>环境配置<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<p>根据官方指南安装 ROS 2:</p>
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<ul class="simple">
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<li><p><a class="reference external" href="https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html">ROS 2 安装指南(Ubuntu)</a></p></li>
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</ul>
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<p>安装依赖项:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libgflags-dev<span class="w"> </span>nlohmann-json3-dev<span class="w"> </span><span class="se">\</span>
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ros-<span class="nv">$ROS_DISTRO</span>-image-transport<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-image-transport-plugins<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-compressed-image-transport<span class="w"> </span><span class="se">\</span>
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ros-<span class="nv">$ROS_DISTRO</span>-image-publisher<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-camera-info-manager<span class="w"> </span><span class="se">\</span>
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ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-statistics-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-xacro<span class="w"> </span><span class="se">\</span>
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ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev<span class="w"> </span>libssl-dev
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</pre></div>
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</div>
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<p>启用 ROS 2 自动补全:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">eval</span><span class="w"> </span><span class="s2">"</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>ros2<span class="k">)</span><span class="s2">"</span>
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<span class="nb">eval</span><span class="w"> </span><span class="s2">"</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>colcon<span class="k">)</span><span class="s2">"</span>
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</pre></div>
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</div>
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</section>
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<section id="id2">
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<h1>二进制安装<a class="headerlink" href="#id2" title="Link to this heading"></a></h1>
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<p>查看软件包:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>update
|
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apt<span class="w"> </span>list<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>orbbec
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</pre></div>
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</div>
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<p>安装 OrbbecSDK ROS2 包:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-orbbec-camera<span class="w"> </span>ros-humble-orbbec-description
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</pre></div>
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</div>
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<p>安装完成后,直接使用即可,无需编译。</p>
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</section>
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<hr class="docutils" />
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<section id="id3">
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<h1>从源码构建<a class="headerlink" href="#id3" title="Link to this heading"></a></h1>
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<p>创建 <code class="docutils literal notranslate"><span class="pre">colcon</span></code> 工作空间:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mkdir<span class="w"> </span>-p<span class="w"> </span>~/ros2_ws/src
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</pre></div>
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</div>
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<p>克隆源代码并切换到 <code class="docutils literal notranslate"><span class="pre">v2-main</span></code> 分支:</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/src
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git<span class="w"> </span>clone<span class="w"> </span>https://github.com/orbbec/OrbbecSDK_ROS2.git
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<span class="nb">cd</span><span class="w"> </span>OrbbecSDK_ROS2
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git<span class="w"> </span>checkout<span class="w"> </span>v2-main
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</pre></div>
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</div>
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<p>构建:</p>
|
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws
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colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w"> </span>console_direct+<span class="w"> </span>--cmake-args<span class="w"> </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
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<h1>安装<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
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<p>本章节说明如何安装 Orbbec ROS2 Python SDK,包括从源码构建、安装依赖项以及使用注册脚本。</p>
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<li class="toctree-l1"><a class="reference internal" href="build_the_package.html#id2">二进制安装</a></li>
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OrbbecSDK V2 ROS2 封装
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<li><a class="reference internal" href="#">注册脚本(必需)</a><ul>
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<li><a class="reference internal" href="#id2">二进制安装</a></li>
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<li><a class="reference internal" href="#id3">从源码构建</a></li>
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<li class="breadcrumb-item active">注册脚本(必需)</li>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
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<h1>注册脚本(必需)<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<p>为了让 Orbbec 相机在 Linux 上被正确识别,请安装 udev 规则。</p>
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<h2>二进制安装<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>cp<span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/share/orbbec_camera/udev/99-obsensor-libusb.rules<span class="w"> </span>/etc/udev/rules.d/
|
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sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&&</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
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<h2>从源码构建<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
|
||||
sudo<span class="w"> </span>bash<span class="w"> </span>install_udev_rules.sh
|
||||
sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&&</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
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</pre></div>
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<p>此步骤对于 Linux 用户是<strong>必需的</strong>。</p>
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<p><code class="docutils literal notranslate"><span class="pre">注意:</span></code> 如果不执行此脚本,由于权限问题,打开设备将会失败。您需要使用 sudo(管理员权限)运行示例程序。</p>
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<span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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