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obyalian
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# OrbbecViewer QuickStarts
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> **Note:** This ROS package aligns its parameters and functionality with **Orbbec Viewer**; for any questions regarding parameter usage or device model support, please refer to Orbbec Viewer.
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## Download
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**Repository link：**[OrbbecViewer Download](https://github.com/orbbec/OrbbecSDK_v2/releases)
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Select the appropriate version of OrbbecViewer according to your device type.
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## Connect the device
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When the Orbbec Viewer is open, the current device connection status will be prominently displayed in the top left corner of the application window. This area provides instant feedback about whether the camera is connected and functioning properly.
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## Camera Control
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You can quickly view the image using the buttons at the top of the window, and adjust image parameters in the camera panel on the left side of the window.
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## Device information and firmware upgrade
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Click the icon at the bottom left corner of the window to view the current camera information and upgrade the firmware.
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Please refer to the list below for the latest camera firmware. [For more information, please click here.](https://www.orbbec.com/docs/g330-explore-camera-functions-in-orbbec-viewer/)
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**Repository link：**[Firmware Download](https://github.com/orbbec/OrbbecFirmware?tab=readme-ov-file#firmware-download)
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| **Products list** | **Download link** | Latest version |
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| ----------------------- | ------------------------------------------------------------------------------------------------- | -------------- |
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| Femto Bolt | [Femto Bolt Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | v1.1.2 |
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| Femto Mega | [Femto Mega Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | v1.3.1 |
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| Gemini 2 | [Gemini 2 Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | v1.4.98 |
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| Gemini 2 L | [Gemini 2L Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | v1.5.02 |
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| Femto Mega I | [Femto Mega I Firmware](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | v2.0.4 |
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| Gemini 330 series | [Gemini 330 series Firmware](https://www.orbbec.com/docs/g330-firmware-release/?_gl=1) | |
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| Gemini 215 | [Gemini 215](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | v1.0.9 |
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| Gemini 210 | [Gemini 210](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | v1.0.9 |
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| Gemini 435Le | [Gemini 435Le](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | v1.3.2 |
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## ROS Package QuickStarts
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### Introduction
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This section provides a quick start to using the Orbbec ROS 2 wrapper.
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You will learn how to:
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* Launch a camera node.
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* Visualize depth/color streams in **RViz2**.
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* Interact with topics and services using **ROS 2 CLI tools**.
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---
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### Build your First Camera Application
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#### Step 1: Source ROS 2 and Workspace
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Make sure ROS 2 and your workspace environment are sourced:
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```bash
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source /opt/ros/$ROS_DISTRO/setup.bash
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source ~/ros2_ws/install/setup.bash
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```
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#### Step 2: Launch the Camera Node
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- On terminal 1
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```bash
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. ./install/setup.bash
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ros2 run orbbec_camera list_devices_node #Check if the camera is connected
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ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table
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```
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If you have multiple cameras connected, you can specify the **serial number**:
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py serial_number:=<YourCameraSN>
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```
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#### Step 3: Visualize in RViz2
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Launch RViz2 and load the default config:
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- On terminal 2
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```bash
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rviz2
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```
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* Add an **Image** display, set topic to `/camera/color/image_raw`.
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* Add another **Image** display for `/camera/depth/image_raw`.
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* Optionally, add a **PointCloud2** display for `/camera/depth/points`.
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You should now see the color stream, depth stream, and 3D point cloud in RViz2.
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---
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### Sample Features
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After the node is running, try some ROS 2 CLI commands:
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#### List available topics / services/ parameters
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```bash
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ros2 topic list
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ros2 service list
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ros2 param list
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```
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#### Echo a topic
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View depth camera data:
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```bash
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ros2 topic echo /camera/depth/camera_info
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```
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#### Call a service
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For example, get device Information:
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```bash
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ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '{}'
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```
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#### Record with rosbag2
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```bash
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ros2 bag record /camera/color/image_raw /camera/depth/image_raw
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```
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@@ -0,0 +1,11 @@
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Quickstarts
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======================================================
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This chapter provides quick start guides for the SDK, allowing users to run basic example programs quickly.
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.. toctree::
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:maxdepth: 2
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quickstart.md
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orbbecviewer.md
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