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Update README Product support List

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Joe Dong
2024-05-11 18:18:14 +08:00
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README.MD
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@@ -1,7 +1,7 @@
# orbbec_camera # orbbec_camera
[![stable](http://badges.github.io/stability-badges/dist/stable.svg)](http://github.com/badges/stability-badges) ![version](https://img.shields.io/badge/version-1.5.0-green) ## [![stable](http://badges.github.io/stability-badges/dist/stable.svg)](http://github.com/badges/stability-badges) ![version](https://img.shields.io/badge/version-1.5.0-green)
---
OrbbecSDK ROS 2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS 2 environment. It OrbbecSDK ROS 2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS 2 environment. It
supports ROS 2 Foxy, Galactic, and Humble distributions. supports ROS 2 Foxy, Galactic, and Humble distributions.
@@ -105,7 +105,7 @@ ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}
``` ```
> If your check `ir` or `depth`, please change `/camera/get_color_exposure` > If your check `ir` or `depth`, please change `/camera/get_color_exposure`
> to `/camera/get_ir_exposure` or `/camera/get_depth_exposure`, Same below. > to `/camera/get_ir_exposure` or `/camera/get_depth_exposure`, Same below.
- Get gain - Get gain
@@ -193,10 +193,10 @@ to `true` in the stream that corresponds to the argument of the launch file.
- `/camera/color/image_raw`: The color stream image. - `/camera/color/image_raw`: The color stream image.
- `/camera/depth/camera_info`: The depth stream image. - `/camera/depth/camera_info`: The depth stream image.
- `/camera/depth/image_raw`: The depth stream image - `/camera/depth/image_raw`: The depth stream image
- `/camera/depth/points` : The point cloud, only available when `enable_point_cloud` is `true`. - `/camera/depth/points` : The point cloud, only available when `enable_point_cloud` is `true`.
- `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud` - `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud`
is `true`. is `true`.
- `/camera/ir/camera_info`: The IR camera info. - `/camera/ir/camera_info`: The IR camera info.
- `/camera/ir/image_raw`: The IR stream image - `/camera/ir/image_raw`: The IR stream image
- `/camera/accel/sample`: Acceleration data stream `enable_sync_output_accel_gyro`turned off，`enable_accel`turned on - `/camera/accel/sample`: Acceleration data stream `enable_sync_output_accel_gyro`turned off，`enable_accel`turned on
- `/camera/gyro/sample`: Gyroscope data stream，enable_sync_output_accel_gyro`turned off，`enable_gyro`turned on - `/camera/gyro/sample`: Gyroscope data stream，enable_sync_output_accel_gyro`turned off，`enable_gyro`turned on
@@ -306,7 +306,7 @@ The following are the launch parameters available:
firmware crashes when hot plugging. firmware crashes when hot plugging.
- `enable_point_cloud`: Enables the point cloud. - `enable_point_cloud`: Enables the point cloud.
- `enable_colored_point_cloud`: Enables the RGB point cloud. - `enable_colored_point_cloud`: Enables the RGB point cloud.
- `point_cloud_qos`, `[color|depth|ir]_qos,``[color|depth|ir]_camera_info_qos`: ROS 2 Message Quality of Service (QoS) - `point_cloud_qos`, ` [color|depth|ir]_qos,``[color|depth|ir]_camera_info_qos `: ROS 2 Message Quality of Service (QoS)
settings. The possible values settings. The possible values
are `SYSTEM_DEFAULT`, `DEFAULT`,`PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` are `SYSTEM_DEFAULT`, `DEFAULT`,`PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA`
and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`,
@@ -410,9 +410,9 @@ resolutions is as follows:
## Check which profiles the camera supports ## Check which profiles the camera supports
```bash ```bash
ros2 run orbbec_camera list_camera_profile_mode_node ros2 run orbbec_camera list_camera_profile_mode_node
``` ```
## Building a Debian Package ## Building a Debian Package
@@ -432,7 +432,7 @@ replace `focal` with the codename of your Ubuntu version and `humble` with your
```yaml ```yaml
orbbec_camera_msgs: orbbec_camera_msgs:
ubuntu: ubuntu:
focal: [ ros-humble-orbbec-camera-msgs ] focal: [ros-humble-orbbec-camera-msgs]
``` ```
Next, create a new file `/etc/ros/rosdep/sources.list.d/50-orbbec.list` and add this line to specify the path to the Next, create a new file `/etc/ros/rosdep/sources.list.d/50-orbbec.list` and add this line to specify the path to the
@@ -463,7 +463,7 @@ bash .make_deb.sh
## Launch files ## Launch files
| product serials | launch file | | product serials | launch file |
|---------------------------------------|-----------------------------| | ------------------------------------- | --------------------------- |
| astra+ | astra_adv.launch.py | | astra+ | astra_adv.launch.py |
| astra mini /astra mini pro /astra pro | astra.launch.py | | astra mini /astra mini pro /astra pro | astra.launch.py |
| astra mini pro s | astra.launch.py | | astra mini pro s | astra.launch.py |
@@ -476,7 +476,7 @@ bash .make_deb.sh
| dabai dw | dabai_dw.launch.py | | dabai dw | dabai_dw.launch.py |
| dabai pro | dabai_pro.launch.py | | dabai pro | dabai_pro.launch.py |
| deeya | deeya.launch.py | | deeya | deeya.launch.py |
| femto /femto w | femto.launch.py | | femto /femto w | femto.launch.py |
| femto mega | femto_mega.launch.py | | femto mega | femto_mega.launch.py |
| femto bolt | femto_bolt.launch.py | | femto bolt | femto_bolt.launch.py |
| gemini | gemini.launch.py | | gemini | gemini.launch.py |
@@ -492,22 +492,22 @@ bash .make_deb.sh
| dabai dw2 | dabai_dw2.launch.py | | dabai dw2 | dabai_dw2.launch.py |
| gemini ew | gemini_ew.launch.py | | gemini ew | gemini_ew.launch.py |
| gemini ew lite | gemini_ew_lite.launch.py | | gemini ew lite | gemini_ew_lite.launch.py |
| gemini 300 series | gemini_330_series.launch.py | | gemini 330 series | gemini_330_series.launch.py |
**All launch files are essentially similar, with the primary difference being the default values of the parameters set for different models **All launch files are essentially similar, with the primary difference being the default values of the parameters set for different models
within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you
encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch
file, as well as other parameters, to ensure compatibility and optimal performance.** file, as well as other parameters, to ensure compatibility and optimal performance.**
## Supported hardware products ## Product support
| **Products List** | **Firmware Version** | | **products list** | **firmware version** |
|-------------------|-----------------------------| | ----------------- | --------------------------- |
| Gemini 335 | 1.2.20 | | Gemini 335 | 1.2.20 |
| Gemini 335L | 1.2.20 | | Gemini 335L | 1.2.20 |
| Femto Bolt | 1.0.6/1.0.9 | | Femto Bolt | 1.0.6/1.0.9 |
| Femto Mega | 1.1.7/1.2.7 | | Femto Mega | 1.1.7/1.2.7 |
| Gemini 2 XL | Obox: V1.2.5 VL:1.4.54 | | Gemini 2 XL | Obox: V1.2.5 VL:1.4.54 |
| Astra 2 | 2.8.20 | | Astra 2 | 2.8.20 |
| Gemini 2 L | 1.4.32 | | Gemini 2 L | 1.4.32 |
| Gemini 2 | 1.4.60 /1.4.76 | | Gemini 2 | 1.4.60 /1.4.76 |