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feat: add support for colorized depth images in camera node and update launch configurations

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ob-yalian
2026-08-18 14:17:26 +08:00
parent 6a44bb965e
commit 475dd3923e
26 changed files with 88 additions and 9 deletions
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README.MD
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@@ -334,6 +334,8 @@ Launch camera node
source ~/ros2_ws/install/setup.bash
ros2 run orbbec_camera list_devices_node # Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table
# Optional: enable Jet colorized depth on /camera/depth/image_raw
ros2 launch orbbec_camera gemini_330_series.launch.py enable_depth_colorizer:=true
```
- On terminal 2
@@ -367,6 +369,10 @@ ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'
For more usage details, please refer to the official [OrbbecSDK ROS2 documentation](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/4_application_guide/application_guide.html)
When `enable_depth_colorizer` is enabled, `depth/image_raw` directly publishes an `rgb8` image
(OpenCV Jet). When disabled, the topic continues to publish the raw `16UC1` depth image; the
colorized image uses a 0--10 m depth range for mapping.
## Supported Devices
Currently, the following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the [main](https://github.com/orbbec/OrbbecSDK_ROS2/tree/main) branch.