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<script src="_static/translations.js?v=beaddf03"></script>
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<script src="_static/js/theme.js"></script>
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<link rel="index" title="索引" href="genindex.html" />
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</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
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<!-- Local TOC -->
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<div class="local-toc"><ul>
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<li><a class="reference internal" href="#">OrbbecSDK V2 ROS2 封装文档</a></li>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul class="simple">
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</ul>
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</div>
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<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">Lidar Devices</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
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<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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</ul>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></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="orbbecsdk-v2-ros2">
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<h1>OrbbecSDK V2 ROS2 封装文档<a class="headerlink" href="#orbbecsdk-v2-ros2" title="Link to this heading"></a></h1>
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<div class="toctree-wrapper compound">
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul class="simple">
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">Lidar Devices</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
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<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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</ul>
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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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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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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