mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 19:20:20 +08:00
Update README bring forward launch params
This commit is contained in:
Joe Dong
@@ -12,16 +12,16 @@ supports ROS 2 Foxy, Galactic, and Humble distributions.
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* [Table of Contents](#table-of-contents)
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* [Installation Instructions](#installation-instructions)
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* [Getting start](#getting-start)
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* [All available service for camera control](#all-available-service-for-camera-control)
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* [All available topics](#all-available-topics)
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* [Network device enumeration](#network-device-enumeration)
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* [Multi-Camera](#multi-camera)
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* [Use hardware decoder to decode JPEG](#use-hardware-decoder-to-decode-jpeg)
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* [rockchip and Amlogic](#rockchip-and-amlogic)
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* [Nvidia Jetson](#nvidia-jetson)
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* [Launch parameters](#launch-parameters)
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* [Depth work mode switch](#depth-work-mode-switch)
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* [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes)
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* [All available service for camera control](#all-available-service-for-camera-control)
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* [All available topics](#all-available-topics)
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* [Network device enumeration](#network-device-enumeration)
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* [Multi-Camera](#multi-camera)
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* [Use hardware decoder to decode JPEG](#use-hardware-decoder-to-decode-jpeg)
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* [rockchip and Amlogic](#rockchip-and-amlogic)
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* [Nvidia Jetson](#nvidia-jetson)
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* [Check which profiles the camera supports](#check-which-profiles-the-camera-supports)
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* [Building a Debian Package](#building-a-debian-package)
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* [Preparing the Environment](#preparing-the-environment)
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@@ -34,7 +34,6 @@ supports ROS 2 Foxy, Galactic, and Humble distributions.
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* [Other useful links](#other-useful-links)
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* [License](#license)
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<!-- TOC -->
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## Installation Instructions
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Install ROS 2
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@@ -180,152 +179,6 @@ ros2 service call /camera/toggle_ir std_srvs/srv/SetBool "{data : true}"
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ros2 service call /camera/save_point_cloud std_srvs/srv/Empty "{}"
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```
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### All available service for camera control
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The name of the following service already expresses its function.
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However, it should be noted that the corresponding `set_[ir|depth|color]*`
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and `get[ir|depth|color]*` **services are only available if you set** `enable[ir|depth|color]`
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to `true` in the stream that corresponds to the argument of the launch file.
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- `/camera/get_auto_white_balance`
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- `/camera/get_color_exposure`
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- `/camera/get_color_gain`
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- `/camera/get_depth_exposure`
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- `/camera/get_depth_gain`
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- `/camera/get_device_info`
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- `/camera/get_ir_exposure`
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- `/camera/get_ir_gain`
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- `/camera/get_ldp_status`
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- `/camera/get_sdk_version`
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- `/camera/get_white_balance`
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- `/camera/set_auto_white_balance`
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- `/camera/set_color_auto_exposure`
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- `/camera/set_color_exposure`
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- `/camera/set_color_gain`
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- `/camera/set_depth_auto_exposure`
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- `/camera/set_depth_exposure`
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- `/camera/set_depth_gain`
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- `/camera/set_fan_work_mode`
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- `/camera/set_floor_enable`
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- `/camera/set_ir_auto_exposure`
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- `/camera/set_ir_exposure`
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- `/camera/set_ir_gain`
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- `/camera/set_laser_enable`
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- `/camera/set_ldp_enable`
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- `/camera/set_white_balance`
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- `/camera/toggle_color`
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- `/camera/toggle_depth`
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- `/camera/toggle_ir`
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### All available topics
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- `/camera/color/camera_info` : The color camera info.
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- `/camera/color/image_raw`: The color stream image.
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- `/camera/depth/camera_info`: The depth stream image.
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- `/camera/depth/image_raw`: The depth stream image
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- `/camera/depth/points` : The point cloud, only available when `enable_point_cloud` is `true`.
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- `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud`
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is `true`.
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- `/camera/ir/camera_info`: The IR camera info.
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- `/camera/ir/image_raw`: The IR stream image
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- `/camera/accel/sample`: Acceleration data stream `enable_sync_output_accel_gyro`turned off，`enable_accel`turned on
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- `/camera/gyro/sample`: Gyroscope data stream，enable_sync_output_accel_gyro`turned off，`enable_gyro`turned on
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- `camera/gyro_accel/sample`: Synchronized data stream of acceleration and gyroscope，`enable_sync_output_accel_gyro`
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turned on
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### Network device enumeration
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Currently, the network device enumeration function is supported only by the Femto Mega device. When accessing this
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device over the network, if `enumerate_net_device` is set to `true`, the device will be automatically enumerated,
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eliminating the need to configure the IP address in advance or set the enable switch to true. The specific configuration
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methods are as follows:
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- `enumerate_net_device`: enumeration network device automatically, only supported by Femto Mega.
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if `enumerate_net_device` set to `true`, the device will be enumerated automatically,No need to set
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the `net_device_ip`
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and `net_device_port` parameters.
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- `net_device_ip`: The IP address of the device.
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- `net_device_port`: The port number of the device.
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### Multi-Camera
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- To get the `usb_port` of the camera, plug in the camera and run the following command in the terminal:
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```bash
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ros2 run orbbec_camera list_devices_node
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```
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- Set the `device_num` parameter to the number of cameras you have.
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- Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.py` file and change the `usb_port`.
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- Don't forget to put the `include` tag inside the `group` tag.
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Otherwise, the parameter values of different cameras may become contaminated.
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```python
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory('orbbec_camera')
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launch_file_dir = os.path.join(package_dir, 'launch')
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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini2L.launch.py')
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),
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launch_arguments={
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'camera_name': 'camera_01',
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'usb_port': '6-2.4.4.2', # replace your usb port here
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'device_num': '2'
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}.items()
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)
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini2L.launch.py')
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),
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launch_arguments={
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'camera_name': 'camera_02',
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'usb_port': '6-2.4.1', # replace your usb port here
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'device_num': '2'
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}.items()
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)
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# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
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# Launch description
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ld = LaunchDescription([
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GroupAction([launch1_include]),
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GroupAction([launch2_include]),
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])
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return ld
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```
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- To launch the cameras, run the following command:
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```bash
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ros2 launch orbbec_camera multi_camera.launch.py
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```
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## Use hardware decoder to decode JPEG
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### rockchip and Amlogic
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Depends on `rockchip-mpp-dev` and `rockchip-rga-dev`, not all systems have these two packages, the names may be
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different, please search by yourself.
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Open `CMakeLists.txt` and set `USE_RK_HW_DECODER` to `ON`.
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### Nvidia Jetson
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Depends on: `jetson_multimedia_api`,`libyuv`.
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Open `CMakeLists.txt` and set `USE_NV_HW_DECODER` to `ON`.
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## Launch parameters
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The following are the launch parameters available:
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@@ -442,6 +295,154 @@ resolutions is as follows:
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- WFOV unbinned: 1024 x 1024.
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- WFOV binned: 512 x 512.
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## All available service for camera control
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The name of the following service already expresses its function.
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However, it should be noted that the corresponding `set_[ir|depth|color]*`
|
||||
and `get[ir|depth|color]*` **services are only available if you set** `enable[ir|depth|color]`
|
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to `true` in the stream that corresponds to the argument of the launch file.
|
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|
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- `/camera/get_auto_white_balance`
|
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- `/camera/get_color_exposure`
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- `/camera/get_color_gain`
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- `/camera/get_depth_exposure`
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- `/camera/get_depth_gain`
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- `/camera/get_device_info`
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- `/camera/get_ir_exposure`
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- `/camera/get_ir_gain`
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- `/camera/get_ldp_status`
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- `/camera/get_sdk_version`
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- `/camera/get_white_balance`
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- `/camera/set_auto_white_balance`
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- `/camera/set_color_auto_exposure`
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- `/camera/set_color_exposure`
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- `/camera/set_color_gain`
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- `/camera/set_depth_auto_exposure`
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- `/camera/set_depth_exposure`
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- `/camera/set_depth_gain`
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- `/camera/set_fan_work_mode`
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- `/camera/set_floor_enable`
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- `/camera/set_ir_auto_exposure`
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- `/camera/set_ir_exposure`
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- `/camera/set_ir_gain`
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- `/camera/set_laser_enable`
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- `/camera/set_ldp_enable`
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- `/camera/set_white_balance`
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- `/camera/toggle_color`
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- `/camera/toggle_depth`
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- `/camera/toggle_ir`
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|
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## All available topics
|
||||
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- `/camera/color/camera_info` : The color camera info.
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- `/camera/color/image_raw`: The color stream image.
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- `/camera/depth/camera_info`: The depth stream image.
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- `/camera/depth/image_raw`: The depth stream image
|
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- `/camera/depth/points` : The point cloud, only available when `enable_point_cloud` is `true`.
|
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- `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud`
|
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is `true`.
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- `/camera/ir/camera_info`: The IR camera info.
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- `/camera/ir/image_raw`: The IR stream image
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- `/camera/accel/sample`: Acceleration data stream `enable_sync_output_accel_gyro`turned off，`enable_accel`turned on
|
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- `/camera/gyro/sample`: Gyroscope data stream，enable_sync_output_accel_gyro`turned off，`enable_gyro`turned on
|
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- `camera/gyro_accel/sample`: Synchronized data stream of acceleration and gyroscope，`enable_sync_output_accel_gyro`
|
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turned on
|
||||
|
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## Network device enumeration
|
||||
|
||||
Currently, the network device enumeration function is supported only by the Femto Mega device. When accessing this
|
||||
device over the network, if `enumerate_net_device` is set to `true`, the device will be automatically enumerated,
|
||||
eliminating the need to configure the IP address in advance or set the enable switch to true. The specific configuration
|
||||
methods are as follows:
|
||||
|
||||
- `enumerate_net_device`: enumeration network device automatically, only supported by Femto Mega.
|
||||
if `enumerate_net_device` set to `true`, the device will be enumerated automatically,No need to set
|
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the `net_device_ip`
|
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and `net_device_port` parameters.
|
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- `net_device_ip`: The IP address of the device.
|
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- `net_device_port`: The port number of the device.
|
||||
|
||||
## Multi-Camera
|
||||
|
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- To get the `usb_port` of the camera, plug in the camera and run the following command in the terminal:
|
||||
|
||||
```bash
|
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ros2 run orbbec_camera list_devices_node
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```
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||||
|
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- Set the `device_num` parameter to the number of cameras you have.
|
||||
- Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.py` file and change the `usb_port`.
|
||||
- Don't forget to put the `include` tag inside the `group` tag.
|
||||
Otherwise, the parameter values of different cameras may become contaminated.
|
||||
|
||||
```python
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory('orbbec_camera')
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launch_file_dir = os.path.join(package_dir, 'launch')
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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini2L.launch.py')
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),
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launch_arguments={
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'camera_name': 'camera_01',
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'usb_port': '6-2.4.4.2', # replace your usb port here
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'device_num': '2'
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}.items()
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)
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, 'gemini2L.launch.py')
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),
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launch_arguments={
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'camera_name': 'camera_02',
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'usb_port': '6-2.4.1', # replace your usb port here
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'device_num': '2'
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}.items()
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)
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# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
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# Launch description
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ld = LaunchDescription([
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GroupAction([launch1_include]),
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GroupAction([launch2_include]),
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])
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return ld
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```
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- To launch the cameras, run the following command:
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```bash
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ros2 launch orbbec_camera multi_camera.launch.py
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```
|
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## Use hardware decoder to decode JPEG
|
||||
|
||||
### rockchip and Amlogic
|
||||
|
||||
Depends on `rockchip-mpp-dev` and `rockchip-rga-dev`, not all systems have these two packages, the names may be
|
||||
different, please search by yourself.
|
||||
Open `CMakeLists.txt` and set `USE_RK_HW_DECODER` to `ON`.
|
||||
|
||||
### Nvidia Jetson
|
||||
|
||||
Depends on: `jetson_multimedia_api`,`libyuv`.
|
||||
Open `CMakeLists.txt` and set `USE_NV_HW_DECODER` to `ON`.
|
||||
|
||||
|
||||
|
||||
## Check which profiles the camera supports
|
||||
|
||||
```bash
|
||||
|
||||
Reference in New Issue
Block a user