Add initial project setup and documentation for OrbbecSDK V2 ROS2 Wrapper

.clang-format

@@ -0,0 +1,167 @@
+---
+Language:        Cpp
+BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: WithoutElse
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     100
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: true
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    false
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Auto
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+...

.cmake-format.py

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+# -----------------------------
+# Options affecting formatting.
+# -----------------------------
+with section("format"):
+
+  # Disable formatting entirely, making cmake-format a no-op
+  disable = False
+
+  # How wide to allow formatted cmake files
+  line_width = 120
+
+  # How many spaces to tab for indent
+  tab_size = 4
+
+  # If true, lines are indented using tab characters (utf-8 0x09) instead of
+  # <tab_size> space characters (utf-8 0x20). In cases where the layout would
+  # require a fractional tab character, the behavior of the  fractional
+  # indentation is governed by <fractional_tab_policy>
+  use_tabchars = False
+
+  # If <use_tabchars> is True, then the value of this variable indicates how
+  # fractional indentions are handled during whitespace replacement. If set to
+  # 'use-space', fractional indentation is left as spaces (utf-8 0x20). If set
+  # to `round-up` fractional indentation is replaced with a single tab character
+  # (utf-8 0x09) effectively shifting the column to the next tabstop
+  fractional_tab_policy = 'use-space'
+
+  # If an argument group contains more than this many sub-groups (parg or kwarg
+  # groups) then force it to a vertical layout.
+  max_subgroups_hwrap = 4
+
+  # If a positional argument group contains more than this many arguments, then
+  # force it to a vertical layout.
+  max_pargs_hwrap = 6
+
+  # If a cmdline positional group consumes more than this many lines without
+  # nesting, then invalidate the layout (and nest)
+  max_rows_cmdline = 2
+
+  # If true, separate flow control names from their parentheses with a space
+  separate_ctrl_name_with_space = False
+
+  # If true, separate function names from parentheses with a space
+  separate_fn_name_with_space = False
+
+  # If a statement is wrapped to more than one line, than dangle the closing
+  # parenthesis on its own line.
+  dangle_parens = True
+
+  # If the trailing parenthesis must be 'dangled' on its on line, then align it
+  # to this reference: `prefix`: the start of the statement,  `prefix-indent`:
+  # the start of the statement, plus one indentation  level, `child`: align to
+  # the column of the arguments
+  dangle_align = 'prefix'
+
+  # If the statement spelling length (including space and parenthesis) is
+  # smaller than this amount, then force reject nested layouts.
+  min_prefix_chars = 4
+
+  # If the statement spelling length (including space and parenthesis) is larger
+  # than the tab width by more than this amount, then force reject un-nested
+  # layouts.
+  max_prefix_chars = 10
+
+  # If a candidate layout is wrapped horizontally but it exceeds this many
+  # lines, then reject the layout.
+  max_lines_hwrap = 2
+
+  # What style line endings to use in the output.
+  line_ending = 'unix'
+
+  # Format command names consistently as 'lower' or 'upper' case
+  command_case = 'canonical'
+
+  # Format keywords consistently as 'lower' or 'upper' case
+  keyword_case = 'unchanged'
+
+  # A list of command names which should always be wrapped
+  always_wrap = []
+
+  # If true, the argument lists which are known to be sortable will be sorted
+  # lexicographicall
+  enable_sort = True
+
+  # If true, the parsers may infer whether or not an argument list is sortable
+  # (without annotation).
+  autosort = False
+
+  # By default, if cmake-format cannot successfully fit everything into the
+  # desired linewidth it will apply the last, most agressive attempt that it
+  # made. If this flag is True, however, cmake-format will print error, exit
+  # with non-zero status code, and write-out nothing
+  require_valid_layout = False
+
+  # A dictionary mapping layout nodes to a list of wrap decisions. See the
+  # documentation for more information.
+  layout_passes = {}
+
+# -----------------------------
+# Options affecting comment formatting (indirectly).
+# -----------------------------
+with section("markup"):
+    # Disabling markup avoids merging consecutive comment lines
+    enable_markup = False

.github/workflows/build.yaml

@@ -0,0 +1,49 @@
+name: Build
+
+on:
+  workflow_dispatch:
+    inputs:
+      tag:
+        description: 'Tag to build'
+        required: true
+        default: 'v*'
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+        python-version: [3.12]
+    
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        ref: ${{ github.event.inputs.tag }}
+    
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: ${{ matrix.python-version }}
+        
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install pybind11==2.11.0 pybind11-global==2.11.0 wheel
+        
+    - name: Configure CMake
+      run: cmake -S . -B build -DPYBIND11_PYTHON_VERSION=${{ matrix.python-version }}
+      
+    - name: Build
+      run: cmake --build build --config Release
+      
+    - name: Build Python Wheel
+      run: |
+        python setup.py bdist_wheel
+        
+    - name: Upload Artifact
+      uses: actions/upload-artifact@v3
+      with:
+        name: python-wheel-${{ matrix.os }}-${{ matrix.python-version }}
+        path: dist/*.whl
+

.gitignore

@@ -0,0 +1,771 @@
+
+# Created by https://www.toptal.com/developers/gitignore/api/visualstudio,visualstudiocode,c++,python,jetbrains+all,ros,ros2
+# Edit at https://www.toptal.com/developers/gitignore?templates=visualstudio,visualstudiocode,c++,python,jetbrains+all,ros,ros2
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+*.deb
+*.ddeb
+debian/
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### JetBrains+all ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### JetBrains+all Patch ###
+# Ignore everything but code style settings and run configurations
+# that are supposed to be shared within teams.
+
+.idea/*
+
+!.idea/codeStyles
+!.idea/runConfigurations
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+# lib/
+# lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+### ROS ###
+devel/
+logs/
+bin/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+### ROS 2 ###
+install/
+log/
+.obj-x86_64-linux-gnu/
+
+# Ignore generated docs
+
+# eclipse stuff
+
+# qcreator stuff
+
+
+
+# Emacs
+
+# Colcon custom files
+COLCON_IGNORE
+AMENT_IGNORE
+
+### VisualStudioCode ###
+.vscode/*
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
+# Support for Project snippet scope
+.vscode/*.code-snippets
+
+# Ignore code-workspaces
+*.code-workspace
+
+### VisualStudio ###
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+##
+## Get latest from https://github.com/github/gitignore/blob/main/VisualStudio.gitignore
+
+# User-specific files
+*.rsuser
+*.suo
+*.userosscache
+*.sln.docstates
+
+# User-specific files (MonoDevelop/Xamarin Studio)
+*.userprefs
+
+# Mono auto generated files
+mono_crash.*
+
+# Build results
+[Dd]ebug/
+[Dd]ebugPublic/
+[Rr]elease/
+[Rr]eleases/
+# x64/
+# x86/
+# [Ww][Ii][Nn]32/
+# [Aa][Rr][Mm]/
+# [Aa][Rr][Mm]64/
+bld/
+[Bb]in/
+[Oo]bj/
+[Ll]og/
+[Ll]ogs/
+
+# Visual Studio 2015/2017 cache/options directory
+.vs/
+# Uncomment if you have tasks that create the project's static files in wwwroot
+#wwwroot/
+
+# Visual Studio 2017 auto generated files
+Generated\ Files/
+
+# MSTest test Results
+[Tt]est[Rr]esult*/
+[Bb]uild[Ll]og.*
+
+# NUnit
+*.VisualState.xml
+TestResult.xml
+nunit-*.xml
+
+# Build Results of an ATL Project
+[Dd]ebugPS/
+[Rr]eleasePS/
+dlldata.c
+
+# Benchmark Results
+BenchmarkDotNet.Artifacts/
+
+# .NET Core
+project.lock.json
+project.fragment.lock.json
+artifacts/
+
+# ASP.NET Scaffolding
+ScaffoldingReadMe.txt
+
+# StyleCop
+StyleCopReport.xml
+
+# Files built by Visual Studio
+*_i.c
+*_p.c
+*_h.h
+*.ilk
+*.meta
+*.iobj
+*.pdb
+*.ipdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.tmp_proj
+*_wpftmp.csproj
+*.tlog
+*.vspscc
+*.vssscc
+.builds
+*.pidb
+*.svclog
+*.scc
+
+# Chutzpah Test files
+_Chutzpah*
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opendb
+*.opensdf
+*.sdf
+*.cachefile
+*.VC.db
+*.VC.VC.opendb
+
+# Visual Studio profiler
+*.psess
+*.vsp
+*.vspx
+*.sap
+
+# Visual Studio Trace Files
+*.e2e
+
+# TFS 2012 Local Workspace
+$tf/
+
+# Guidance Automation Toolkit
+*.gpState
+
+# ReSharper is a .NET coding add-in
+_ReSharper*/
+*.[Rr]e[Ss]harper
+*.DotSettings.user
+
+# TeamCity is a build add-in
+_TeamCity*
+
+# DotCover is a Code Coverage Tool
+*.dotCover
+
+# AxoCover is a Code Coverage Tool
+.axoCover/*
+!.axoCover/settings.json
+
+# Coverlet is a free, cross platform Code Coverage Tool
+coverage*.json
+coverage*.xml
+coverage*.info
+
+# Visual Studio code coverage results
+*.coverage
+*.coveragexml
+
+# NCrunch
+_NCrunch_*
+.*crunch*.local.xml
+nCrunchTemp_*
+
+# MightyMoose
+*.mm.*
+AutoTest.Net/
+
+# Web workbench (sass)
+.sass-cache/
+
+# Installshield output folder
+[Ee]xpress/
+
+# DocProject is a documentation generator add-in
+DocProject/buildhelp/
+DocProject/Help/*.HxT
+DocProject/Help/*.HxC
+DocProject/Help/*.hhc
+DocProject/Help/*.hhk
+DocProject/Help/*.hhp
+DocProject/Help/Html2
+DocProject/Help/html
+
+# Click-Once directory
+publish/
+
+# Publish Web Output
+*.[Pp]ublish.xml
+*.azurePubxml
+# Note: Comment the next line if you want to checkin your web deploy settings,
+# but database connection strings (with potential passwords) will be unencrypted
+*.pubxml
+*.publishproj
+
+# Microsoft Azure Web App publish settings. Comment the next line if you want to
+# checkin your Azure Web App publish settings, but sensitive information contained
+# in these scripts will be unencrypted
+PublishScripts/
+
+# NuGet Packages
+*.nupkg
+# NuGet Symbol Packages
+*.snupkg
+# The packages folder can be ignored because of Package Restore
+**/[Pp]ackages/*
+# except build/, which is used as an MSBuild target.
+!**/[Pp]ackages/build/
+# Uncomment if necessary however generally it will be regenerated when needed
+#!**/[Pp]ackages/repositories.config
+# NuGet v3's project.json files produces more ignorable files
+*.nuget.props
+*.nuget.targets
+
+# Microsoft Azure Build Output
+csx/
+*.build.csdef
+
+# Microsoft Azure Emulator
+ecf/
+rcf/
+
+# Windows Store app package directories and files
+AppPackages/
+BundleArtifacts/
+Package.StoreAssociation.xml
+_pkginfo.txt
+*.appx
+*.appxbundle
+*.appxupload
+
+# Visual Studio cache files
+# files ending in .cache can be ignored
+*.[Cc]ache
+# but keep track of directories ending in .cache
+!?*.[Cc]ache/
+
+# Others
+ClientBin/
+~$*
+*.dbmdl
+*.dbproj.schemaview
+*.jfm
+*.pfx
+*.publishsettings
+orleans.codegen.cs
+
+# Including strong name files can present a security risk
+# (https://github.com/github/gitignore/pull/2483#issue-259490424)
+#*.snk
+
+# Since there are multiple workflows, uncomment next line to ignore bower_components
+# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
+#bower_components/
+
+# RIA/Silverlight projects
+Generated_Code/
+
+# Backup & report files from converting an old project file
+# to a newer Visual Studio version. Backup files are not needed,
+# because we have git ;-)
+_UpgradeReport_Files/
+Backup*/
+UpgradeLog*.XML
+UpgradeLog*.htm
+ServiceFabricBackup/
+*.rptproj.bak
+
+# SQL Server files
+*.mdf
+*.ldf
+*.ndf
+
+# Business Intelligence projects
+*.rdl.data
+*.bim.layout
+*.bim_*.settings
+*.rptproj.rsuser
+*- [Bb]ackup.rdl
+*- [Bb]ackup ([0-9]).rdl
+*- [Bb]ackup ([0-9][0-9]).rdl
+
+# Microsoft Fakes
+FakesAssemblies/
+
+# GhostDoc plugin setting file
+*.GhostDoc.xml
+
+# Node.js Tools for Visual Studio
+.ntvs_analysis.dat
+node_modules/
+
+# Visual Studio 6 build log
+*.plg
+
+# Visual Studio 6 workspace options file
+*.opt
+
+# Visual Studio 6 auto-generated workspace file (contains which files were open etc.)
+*.vbw
+
+# Visual Studio 6 auto-generated project file (contains which files were open etc.)
+*.vbp
+
+# Visual Studio 6 workspace and project file (working project files containing files to include in project)
+*.dsw
+*.dsp
+
+# Visual Studio 6 technical files
+
+# Visual Studio LightSwitch build output
+**/*.HTMLClient/GeneratedArtifacts
+**/*.DesktopClient/GeneratedArtifacts
+**/*.DesktopClient/ModelManifest.xml
+**/*.Server/GeneratedArtifacts
+**/*.Server/ModelManifest.xml
+_Pvt_Extensions
+
+# Paket dependency manager
+.paket/paket.exe
+paket-files/
+
+# FAKE - F# Make
+.fake/
+
+# CodeRush personal settings
+.cr/personal
+
+# Python Tools for Visual Studio (PTVS)
+
+# Cake - Uncomment if you are using it
+# tools/**
+# !tools/packages.config
+
+# Tabs Studio
+*.tss
+
+# Telerik's JustMock configuration file
+*.jmconfig
+
+# BizTalk build output
+*.btp.cs
+*.btm.cs
+*.odx.cs
+*.xsd.cs
+
+# OpenCover UI analysis results
+OpenCover/
+
+# Azure Stream Analytics local run output
+ASALocalRun/
+
+# MSBuild Binary and Structured Log
+*.binlog
+
+# NVidia Nsight GPU debugger configuration file
+*.nvuser
+
+# MFractors (Xamarin productivity tool) working folder
+.mfractor/
+
+# Local History for Visual Studio
+.localhistory/
+
+# Visual Studio History (VSHistory) files
+.vshistory/
+
+# BeatPulse healthcheck temp database
+healthchecksdb
+
+# Backup folder for Package Reference Convert tool in Visual Studio 2017
+MigrationBackup/
+
+# Ionide (cross platform F# VS Code tools) working folder
+.ionide/
+
+# Fody - auto-generated XML schema
+FodyWeavers.xsd
+
+# VS Code files for those working on multiple tools
+
+# Local History for Visual Studio Code
+
+# Windows Installer files from build outputs
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+.obj-aarch64-linux-gnu/
+*.deb
+*.ddeb
+
+# JetBrains Rider
+*.sln.iml
+
+
+### VisualStudio Patch ###
+# Additional files built by Visual Studio
+
+# End of https://www.toptal.com/developers/gitignore/api/visualstudio,visualstudiocode,c++,python,jetbrains+all,ros,ros2

.make_deb.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/bash
+set -e
+CURR_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd -P)"
+sub_dir=(
+  orbbec_camera_msgs
+  orbbec_camera
+)
+
+for pkg in "${sub_dir[@]}"; do
+  cd "${pkg}"
+  bash .make_deb.sh
+  cd "${CURR_DIR}"
+done

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/conf.py

@@ -0,0 +1,27 @@
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+project = 'OrbbecSDK V2 ROS2 Wrapper'
+copyright = '2025, ORBBEC yalian'
+author = 'ORBBEC yalian'
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = []
+
+templates_path = ['_templates']
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = 'alabaster'
+html_static_path = ['_static']

docs/index.rst

@@ -0,0 +1,17 @@
+.. OrbbecSDK V2 ROS2 Wrapper documentation master file, created by
+   sphinx-quickstart on Tue Sep  9 21:55:16 2025.
+   You can adapt this file completely to your liking, but it should at least
+   contain the root `toctree` directive.
+
+OrbbecSDK V2 ROS2 Wrapper documentation
+=======================================
+
+Add your content using ``reStructuredText`` syntax. See the
+`reStructuredText <https://www.sphinx-doc.org/en/master/usage/restructuredtext/index.html>`_
+documentation for details.
+
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=.
+set BUILDDIR=_build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

docs/source/1_overview/introduction.md

@@ -0,0 +1,68 @@
+# Introduction
+
+OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.
+
+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.
+
+If you are a user in China, it is recommended to use [gitee Repo](https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2).
+
+## Support Hardware Products
+
+This document is based on the v2-main branch code, which is a Python Wrapper built on Orbbec SDK v2. It supports the following devices.
+If your device is included in this supported list, we recommend using the v2-main branch. If not, you can use the main branch instead.
+
+| **Products List** | **Minimal Firmware Version** |
+|-------------------|------------------------------|
+| Gemini 435Le        | 1.2.04                       |
+| Gemini 335Le        | 1.5.31                       |
+| Gemini 330        | 1.2.20                       |
+| Gemini 330L       | 1.2.20                       |
+| Gemini 335        | 1.2.20                       |
+| Gemini 335L       | 1.2.20                       |
+| Gemini 336        | 1.2.20                       |
+| Gemini 336L       | 1.2.20                       |
+| Gemini 335Lg      | 1.3.46                       |
+| Femto Bolt        | 1.1.2                  |
+| Femto Mega        | 1.3.0                  |
+| Femto Mega I        | 2.0.4                  |
+| Astra 2           | 2.8.20                       |
+| Gemini 2 L        | 1.4.53                       |
+| Gemini 2          | 1.4.92               |
+| Gemini 215        | 1.0.9                        |
+| Gemini 210        | 1.0.9                        |
+
+the main branch supports the following devices:
+
+
+| **Products List** | **Minimal Firmware Version**        |
+|-------------------|-----------------------------|
+| Gemini 330        | 1.2.20                   |
+| Gemini 330L        | 1.2.20                    |
+| Gemini 335        | 1.2.20                   |
+| Gemini 335L        | 1.2.20                    |
+| Gemini 336        | 1.2.20                      |
+| Gemini 336L        | 1.2.20                    |
+| Femto Bolt        | 1.0.6                |
+| Femto Mega        | 1.1.7                 |
+| Femto Mega I      | 2.0.2                       |
+| Gemini 2 XL       | Obox: V1.2.5  VL:1.4.54     |
+| Astra 2           | 2.8.20                      |
+| Gemini 2 L        | 1.4.32                      |
+| Gemini 2          | 1.4.60               |
+| Astra+            | 1.0.19 |
+| Femto             | 1.6.7                       |
+| Femto W           | 1.1.8                       |
+| DaBai             | 2436                        |
+| DaBai DCW         | 2460                        |
+| DaBai DW          | 2606                        |
+| Astra Mini Pro    | 1007                        |
+| Gemini E          | 3460                        |
+| Gemini E Lite     | 3606                        |
+| Gemini            | 3018                      |
+| Astra Mini S Pro  | 1005                      |
+
+
+## Support Platforms
+
+- Linux: 18.04/20.04/22.04/24.04 (x64)
+- Arm64: Ubuntu18.04/20.04/22.04

docs/source/1_overview/orbbecsdk_overview.md

@@ -0,0 +1,117 @@
+# Orbbec SDK Overview
+
+This section introduces the Orbbec SDK in C++. Its architecture and concepts are consistent with those of the Python Wrapper.
+
+## Terms
+
+|  ID  |  Name  |  Explain  |
+| --- | --- | --- |
+|  1  |  USB  |  Universal Serial Bus  |
+|  2  |  UVC  |  USB Video Class  |
+|  3  |  Firmware  |  Firmware of 3D camera  |
+|  4  |  Disparity  |  Disparity is to observe the direction difference of the same target from two points with a certain distance.  |
+|  5  |  D2D (Disparity to depth)  |  Disparity to depth is an image processing technique used to convert disparity information into depth information.  |
+|  6  |  Hardware D2D  |  Disparity to depth is implemented internally in the device, without occupying the computational power of the host computer.  |
+|  7  |  Software D2D  |  Disparity to depth, implemented in Orbbec SDK  |
+|  8  |  Depth point cloud  |  Depth point cloud, the coordinates of points in a three-dimensional world coordinate system, can be transformed into a point cloud using the intrinsic parameters of a Depth camera.  |
+|  9  |  RGBD point cloud  |  Point cloud with overlaid RGB information  |
+|  10  |  D2C  |  The translation of "Depth to Color" is a feature that performs per-pixel geometric transformation on a depth image. Its result is aligning the depth image with its corresponding color image through the D2C transformation, allowing us to locate the depth information of a color pixel by using the same image coordinate position of that pixel in the transformed depth image. After the D2C transformation, we generate a depth image of the same size as the target color image, where the image content represents depth data in the coordinate system of the color camera. In other words, it reconstructs a depth image "captured" using the origin and dimensions of the color camera, where each pixel matches the corresponding pixel coordinates of the color camera.  |
+|  11  |  Hardware D2C  |  Hardware D2C refers to the functionality of performing Depth to Color transformation within the camera itself, with the camera directly outputting the result of the D2C transformation.  |
+|  12  |  Software D2C  |  Performing D2C computation on the host computer side using an SDK.  |
+|  13  |  Frame aggregation (FrameSet)  |  Combining Depth, IR, and Color frames into a Frameset and invoking it through a pipeline.  |
+|  14  |  C2D  |  The translation of "Color to Depth" is a feature that performs per-pixel geometric transformation on a color image. Its result is aligning the color image with its corresponding depth image through the C2D transformation.  |
+|  15  |  MetaData  |  Frame metadata is a set of parameters (or attributes) that provide a snapshot of the sensor configuration and/or system state present during the frame’s generation.   |
+|  16  |  HDR  |  High Dynamic Range (HDR) imaging allows imaging systems to capture images in extremely dark and bright scenes alike. We propose a software solution running on the host CPU to implement this feature. It utilizes data from two consecutive frames and directly synthesizes these two depth images, thereby enhances the dynamic range of 16-bit depth images.  |
+|  17  |  LDP  |  Laser close-range protection  |
+|   |   |   |
+
+## Orbbec SDK v2 Architecture Overview
+
+![OrbbecSDK v2 Soft Architecture](../image/Soft_Architecture.png)
+
+- Application
+
+OrbbecViewer, Sample, and User Application Implementation.
+
+- Interfaces and Encapsulation Layer
+
+OrbbecSDK Interface Encapsulation and Wrapper Encapsulation.
+
+- High-level Layer
+
+HighLevel encapsulates the core business components and provides interfaces to the outside using a pipeline.
+
+- Basic business layer
+
+The realization of the core business logic framework.
+
+- Platform abstraction layer
+
+Cross-platform components abstract operating system differences and provide a unified access interface.
+
+
+- Platform implementation layer 
+
+The driver implementation of each platform.
+
+## SDK Concept Overview
+
+- Context
+    
+
+Context which provides a set of settings includes settings such as device state change callbacks, log levels, and more. The Context can access multiple devices.
+
+- Device
+    
+
+One actual hardware device corresponds to one Device object, which is used to obtain relevant information of the device and control its attributes.
+
+- Pipeline
+    
+
+The HighLevel corresponding object encapsulates the interface for quick access to the SDK. It has simple functions that allow users to quickly get started and use the SDK.
+
+- Config
+    
+
+Provides configuration for enabling data streams, alignment modes, and frame aggregation modes,  It is used to control the behavior of the data output. 
+
+- StreamProfile 
+    
+
+Stream configuration that defines parameters such as resolution, frame rate, and encoding format, It also provides management of camera parameters.
+
+- Frame
+    
+
+Represents a frame of data in the Stream, and also contains relevant information about that frame of data, such as timestamp, type, etc.
+
+- Filter
+    
+
+It mainly refers to some algorithmic processing modules for the composite stream FrameSet, such as point cloud algorithm processing.
+
+- Record
+    
+
+Recording functionality that captures data streams and saves them as files for later analysis or playback.
+
+- Playback
+    
+
+Playback functionality that plays recorded files and supports control over playback speed and other related parameters.
+
+
+## SDK Programming Model
+
+Here is the C++ programming logic flow chart. Python's programming logic is the same as it.
+
+- Standard Flowchart:
+
+![image.png](../image/Standard_Flowchart.png)
+
+The standard flowchart demonstrates how to create a device from the device list, set and get parameters, and apply post-processing filters.
+
+- Flowchart using default configuration (stream acquisition based on the default settings in OrbbecSDKConfig.xml):
+
+![image](../image/Default_Flowchart.png)

docs/source/2_installation/build_the_package.md

@@ -0,0 +1,52 @@
+### 2.2. Build from Source
+
+If no wheel package is available, or if you want to build with the latest source code, follow these steps:
+
+#### 2.2.1. Environment
+
+Install ROS 2 according to the official guide:
+
+* [ROS 2 installation (Ubuntu)](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+
+Enable ROS 2 auto-completion:
+
+```bash
+eval "$(register-python-argcomplete3 ros2)"
+eval "$(register-python-argcomplete3 colcon)"
+```
+
+Create a `colcon` workspace:
+
+```bash
+mkdir -p ~/ros2_ws/src
+```
+
+#### 2.2.2. Linux ROS2 Wrapper Compilation
+
+Clone source and checkout `v2-main` branch:
+
+```bash
+cd ~/ros2_ws/src
+git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
+cd OrbbecSDK_ROS2
+git checkout v2-main
+```
+
+Install dependencies:
+
+```bash
+sudo apt install libgflags-dev nlohmann-json3-dev libgoogle-glog-dev libgoogle-glog0v5 libssl-dev \
+ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
+ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
+ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
+ros-$ROS_DISTRO-backward-ros libdw-dev
+```
+
+Build:
+
+```bash
+cd ~/ros2_ws
+colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+

docs/source/2_installation/registration_script.md

@@ -0,0 +1,13 @@
+## 2.1. Registration script (required)
+
+To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules:
+
+```bash
+cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
+sudo bash install_udev_rules.sh
+sudo udevadm control --reload-rules && sudo udevadm trigger
+```
+
+This step is **mandatory** for Linux users.
+
+`Notes:` If this script is not executed, open the device will fail due to permission issues. You need to run the sample with sudo (administrator privileges).