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obyalian
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Application Guide
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======================================================
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This chapter introduces application development with the SDK, including launch parameter configuration, ROS2 services, and topics usage.
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.. toctree::
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:maxdepth: 2
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launch_parameters.md
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services.md
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topics.md
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coordinate_systems.md
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camera_sensor_structure.md
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tf_transformations.md
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compressed_image.md
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point_cloud.md
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### Camera sensor structure
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### Compressed Image
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You can use `image_transport` to compress the image using `jpeg`. Below is an example of how to use it:
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To access the compressed color image, you can use the following command:
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```bash
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ros2 topic echo /camera/color/image_raw/compressed --no-arr
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```
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This command will allow you to receive the compressed color image from the specified topic.
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### ROS2 Robot vs Camera Optical Coordination Systems
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* Point Of View:
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* Imagine we are standing behind of the camera, and looking forward.
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* Always use this point of view when talking about coordinates, left vs right IRs, position of sensor, etc..
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* ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)
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* Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)
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* All data published in our wrapper topics is optical data taken directly from our camera sensors.
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* static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.
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# Launch parameters
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> If you are not sure how to set the parameters, you can connect the orbbec camera and open the [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases).
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The following are the launch parameters available:
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### Core & Stream Configuration
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* **`camera_name`**
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* Start the node namespace.
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* **`serial_number`**
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* The serial number of the camera. This is required when multiple cameras are used.
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* **`usb_port`**
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* The USB port of the camera. This is required when multiple cameras are used.
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* **`device_num`**
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* The number of devices. This must be filled in if multiple cameras are required.
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* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
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* The resolution and frame rate of the sensor stream.
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* **`[color|depth|left_ir|right_ir|ir]_rotation`**
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* Set stream image rotation.
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* The possible values are `0`, `90`, `180`, `270`.
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* **`[color|depth|left_ir|right_ir|ir]_flip`**
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* Enable the stream image flip.
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* **`[color|depth|left_ir|right_ir|ir]_mirror`**
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* Enable the stream image mirror.
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* **`enable_point_cloud`**
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* Enable the point cloud.
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* **`enable_colored_point_cloud`**
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* Enable the RGB point cloud.
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* **`cloud_frame_id`**
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* Modify the `frame_id` name within the ros message.
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* **`ordered_pc`**
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* Enable filtering of invalid point clouds.
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* **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`**
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* ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively.
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### Sensor Controls
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#### Color Stream
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* **`enable_color_auto_exposure`**
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* Enable the Color auto exposure.
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* **`enable_color_auto_exposure_priority`**
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* Enable the Color auto exposure priority.
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* **`color_exposure`**
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* Set the Color exposure.
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* **`color_gain`**
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* Set the Color gain.
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* **`enable_color_auto_white_balance`**
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* Enable the Color auto white balance.
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* **`color_white_balance`**
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* Set the Color white balance.
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* **`color_ae_max_exposure`**
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* Set the maximum exposure value for Color auto exposure.
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* **`color_brightness`**, **`color_sharpness`**, **`color_gamma`**, **`color_saturation`**, **`color_contrast`**, **`color_hue`**
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* Set the Color brightness, sharpness, gamma, saturation, contrast, and hue.
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* **`color_backlight_compensation`**
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* Enables the color camera’s backlight compensation feature. **Range**: `0–6`, **Default**: `3`.
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* **`color_powerline_freq`**
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* Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`.
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* **`enable_color_decimation_filter`** / **`color_decimation_filter_scale`**
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* Enable the Color decimation filter and set its scale.
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* **`color_ae_roi_[left|right|top|bottom]`**
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* Set Color auto exposure ROI.
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* **`color_denoising_level`**
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* Enables the ISP denoising feature for Gemini 330 series devices. **Range:** `0–8`, **Default:** `0` (auto).
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#### Depth Stream
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* **`enable_depth_auto_exposure_priority`**
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* Enable the Depth auto exposure priority.
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* **`mean_intensity_set_point`**
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* Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
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> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
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* **`enable_depth_scale`**
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* Enable the depth scale.
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* **`depth_precision`**
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* The depth precision should be in the format `1mm`. The default value is `1mm`.
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* **`depth_ae_roi_[left|right|top|bottom]`**
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* Set Depth auto exposure ROI.
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#### IR Stream
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* **`enable_ir_auto_exposure`**
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* Enable the IR auto exposure.
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* **`ir_exposure`** / **`ir_gain`**
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* Set the IR exposure and gain.
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* **`ir_ae_max_exposure`**
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* Set the maximum exposure value for IR auto exposure.
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* **`ir_brightness`**
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* Set the IR brightness.
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#### Laser / LDP
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* **`enable_laser`**
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* Enable the laser. The default value is `true`.
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* **`laser_energy_level`**
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* Set the laser energy level.
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* **`enable_ldp`** / **`ldp_power_level`**
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* Enable the LDP and set its power level.
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### Device, Sync & Advanced Features
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#### Multi-Camera Synchronization
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* **`sync_mode`**
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* Set sync mode. The default value is `standalone`.
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* **`depth_delay_us`** / **`color_delay_us`**
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* The delay time (microseconds) of the depth/color image capture after receiving the capture command or trigger signal.
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* **`trigger2image_delay_us`**
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* The delay time (microseconds) of the image capture after receiving the capture command or trigger signal. Us
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* **`trigger_out_delay_us`**
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* The delay time (microseconds) of the trigger signal output after receiving the capture command or trigger signal.
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* **`trigger_out_enabled`**
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* Enable the trigger out signal.
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* **`software_trigger_enabled`** / **`software_trigger_period`**
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* Enable the software trigger out signal / set the software trigger period in ms.
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* **`frames_per_trigger`**
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* The frame number of each stream after each trigger in triggering mode.
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> Used for [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md).
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#### Network Cameras
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* **`enumerate_net_device`**
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* Enable automatically enumerate network devices.
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* **`net_device_ip`** / **`net_device_port`**
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* Set net device's IP address and port (Usually `8090`).
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* **`force_ip_enable`**
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* Enable the Force IP function. **Default:** `false`
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* **`force_ip_mac`**
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* Target device MAC address when multiple cameras are connected (e.g., `"54:14:FD:06:07:DA"`). You can use the `list_devices_node` to find the MAC of each device. **Default:** `""`
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* **`force_ip_address`**
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* Static IP address to assign. **Default:** `192.168.1.10`
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* **`force_ip_subnet_mask`**
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* Subnet mask for the static IP. **Default:** `255.255.255.0`
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* **`force_ip_gateway`**
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* Gateway address for the static IP. **Default:** `192.168.1.1`
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> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
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#### Device-Specific
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* **`device_preset`**
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* The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/configuration/predefined_presets.md).
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
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#### Disparity
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* **`disparity_to_depth_mode`**
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* `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion.
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* **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`**
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* Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/configuration/disparity_search_offset.md).
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#### Interleave AE Mode
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* **`interleave_ae_mode`**
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* Set `laser` or `hdr` interleave.
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* **`interleave_frame_enable`**, **`interleave_skip_enable`**, **`interleave_skip_index`**
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* Parameters to control interleave frame mode.
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* **`[hdr|laser]_index[0|1]_[...]`**
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* In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames.
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* *All interleave parameters are used for [interleave ae mode](../5_advanced_guide/configuration/interleave_ae_mode.md).*
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#### Intra-Camera Synchronization
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- **`depth_registration`**
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* Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`.
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- **`align_mode`**
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* The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
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- **`align_target_stream`**
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* Set align target stream mode.
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* The possible values are `COLOR`, `DEPTH`.
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* `COLOR`: Align depth to color.
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* `DEPTH`: Align color to depth.
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- **`intra_camera_sync_reference`**
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- Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. **Default:** `Middle`
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### Basic & General Parameters
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#### Firmware & Backend
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* **`upgrade_firmware`**
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* The input parameter is the firmware path.
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* **`preset_firmware_path`**
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* The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input.
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* **`uvc_backend`**
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* Optional values: `v4l2`, `libuvc`.
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* **`connection_delay`**
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* The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.
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* **`retry_on_usb3_detection_failure`**
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* If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets.
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#### TF, Extrinsics & Calibration
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* **`publish_tf`** / **`tf_publish_rate`**
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* Enable the TF publish and set its publication rate.
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* **`enable_publish_extrinsic`**
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* Enable the extrinsics publish.
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* **`ir_info_url`** / **`color_info_url`**
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* Set URL of the IR/color camera info.
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* **`enable_color_undistortion`**
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* Enable the Color undistortion.
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#### Time Synchronization
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* **`enable_sync_host_time`**
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* Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
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* **`time_domain`**
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* Select timestamp type: `device`, `global`, and `system`.
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* **`time_sync_period`**
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* Interval (in seconds) for synchronizing the camera time with the host system.
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> **Note**: This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`**.
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* **`enable_ptp_config`**
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* Enable PTP time synchronization. Only for Gemini 335Le. Requires `enable_sync_host_time` to be `false`.
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* **`enable_frame_sync`**
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* Enable the frame synchronization.
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#### Logging & Diagnostics
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* **`log_level`**
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* SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
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* **`diagnostic_period`**
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* Diagnostic period in seconds.
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* **`enable_heartbeat`**
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* Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware.
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#### Miscellaneous
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* **`config_file_path`**
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* The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used.
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* **`frame_aggregate_mode`**
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* Set frame aggregate output mode. Optional values: `full_frame`, `color_frame`, `ANY`, `disable`.
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* **`enable_d2c_viewer`**
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* Publishes the D2C overlay image (for testing only).
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### IMU
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* **`enable_accel`** / **`enable_gyro`**
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* Enable the Accelerometer/gyroscope and output its info topic data.
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* **`enable_sync_output_accel_gyro`**
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* Enable the sync `accel_gyro`, and output IMU topic real-time data.
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* **`accel_rate`** / **`gyro_rate`**
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* The frequency of the accelerometer/gyroscope. Values range from `1.5625hz` to `32khz`.
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* **`accel_range`** / **`gyro_range`**
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* The range of the accelerometer (`2g`, `4g`, `8g`, `16g`) and gyroscope (`16dps` to `2000dps`).
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* **`enable_accel_data_correction`** / **`enable_gyro_data_correction`**
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* Enable data correction for the accelerometer/gyroscope.
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* **`linear_accel_cov`** / **`angular_vel_cov`**
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* Covariance of the linear acceleration and angular velocity.
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### Depth Filters
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* **`enable_decimation_filter`**
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* Enable the Depth decimation filter. Set with `decimation_filter_scale`.
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* **`enable_hdr_merge`**
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* Enable the Depth hdr merge filter. Set with `hdr_merge_exposure_1`, etc.
|
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* **`enable_sequence_id_filter`**
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* Enable the Depth sequence id filter. Set with `sequence_id_filter_id`.
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* **`enable_threshold_filter`**
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* Enable the Depth threshold filter. Set with `threshold_filter_max`, `threshold_filter_min`.
|
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* **`enable_hardware_noise_removal_filter`**
|
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* Enable the Depth hardware noise removal filter.
|
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* **`enable_noise_removal_filter`**
|
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* Enable the Depth software noise removal filter. Set with `noise_removal_filter_min_diff`, etc.
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* **`enable_spatial_filter`**
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* Enable the Depth spatial filter. Set with `spatial_filter_alpha`, etc.
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* **`enable_temporal_filter`**
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* Enable the Depth temporal filter. Set with `temporal_filter_diff_threshold`, etc.
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* **`enable_hole_filling_filter`**
|
||||
* Enable the Depth hole filling filter. Set with `hole_filling_filter_mode`.
|
||||
* **`enable_spatial_fast_filter`**
|
||||
* Enable the Depth spatial fast filter. Set with `spatial_fast_filter_radius`.
|
||||
* **`enable_spatial_moderate_filter`**
|
||||
* Enable the Depth spatial moderate filter. Set with `spatial_moderate_filter_diff_threshold`, etc.
|
||||
|
||||
---
|
||||
|
||||
> **_IMPORTANT_**: Please carefully read the instructions regarding software filtering settings at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify these settings.
|
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@@ -0,0 +1,53 @@
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||||
## Enabling and Visualizing Point Cloud in ROS 2
|
||||
|
||||
This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.
|
||||
|
||||
### Enabling Depth Point Cloud
|
||||
|
||||
#### Command to Enable Depth Point Cloud
|
||||
|
||||
To activate the point cloud data stream for depth information, use the following command:
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera gemini_330_series.launch.py enable_point_cloud:=true
|
||||
```
|
||||
|
||||
#### Visualizing Depth Point Cloud in RViz2
|
||||
|
||||
After running the above command, perform the following steps to visualize the depth point cloud:
|
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|
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1. Open RViz2.
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2. Add a `PointCloud2` display.
|
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3. Select the `/camera/depth/points` topic for visualization.
|
||||
4. Set the fixed frame to `camera_link` to properly align the data.
|
||||
|
||||
- **Example Visualization**
|
||||
|
||||
Here is what the depth point cloud might look like in RViz2:
|
||||
|
||||
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||||
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### Enabling Colored Point Cloud
|
||||
|
||||
#### Command to Enable Colored Point Cloud
|
||||
|
||||
To enable the colored point cloud feature, enter the following command:
|
||||
|
||||
```bash
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||||
ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
|
||||
```
|
||||
|
||||
#### Visualizing Colored Point Cloud in RViz2
|
||||
|
||||
To visualize the colored point cloud data:
|
||||
|
||||
1. Launch RViz2 following the command execution.
|
||||
2. Add a `PointCloud2` display panel.
|
||||
3. Choose the `/camera/depth_registered/points` topic from the list.
|
||||
4. Ensure the fixed frame is set to `camera_link`.
|
||||
|
||||
- **Example Visualization**
|
||||
|
||||
The result of the colored point cloud in RViz2 should look similar to this:
|
||||
|
||||
|
||||
@@ -0,0 +1,209 @@
|
||||
# All available services for camera control
|
||||
|
||||
> **Note:** Services related to a specific stream (e.g., `/camera/set_color_*`) are only available if that stream is enabled in the launch file (e.g., `enable_color:=true`).
|
||||
|
||||
### Stream Control
|
||||
|
||||
#### Color Stream
|
||||
* `/camera/toggle_color`
|
||||
```bash
|
||||
ros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/get_color_exposure` & `/camera/get_color_gain`
|
||||
```bash
|
||||
ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_color_auto_exposure`
|
||||
```bash
|
||||
ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_color_exposure` & `/camera/set_color_gain`
|
||||
```bash
|
||||
ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
|
||||
ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
|
||||
```
|
||||
* `/camera/set_color_mirror`, `/camera/set_color_flip`, `/camera/set_color_rotation`
|
||||
```bash
|
||||
ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
|
||||
```
|
||||
* `/camera/set_color_ae_roi`
|
||||
```bash
|
||||
# data_param: [Left, Right, Top, Bottom]
|
||||
ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'
|
||||
```
|
||||
|
||||
#### Depth Stream
|
||||
* `/camera/toggle_depth`
|
||||
```bash
|
||||
ros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/get_depth_exposure` & `/camera/get_depth_gain`
|
||||
```bash
|
||||
ros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_depth_auto_exposure`
|
||||
```bash
|
||||
ros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_depth_exposure` & `/camera/set_depth_gain`
|
||||
```bash
|
||||
ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
|
||||
ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
|
||||
```
|
||||
* `/camera/set_depth_mirror`, `/camera/set_depth_flip`, `/camera/set_depth_rotation`
|
||||
```bash
|
||||
ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
|
||||
```
|
||||
* `/camera/set_depth_ae_roi`
|
||||
```bash
|
||||
# data_param: [Left, Right, Top, Bottom]
|
||||
ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'
|
||||
```
|
||||
|
||||
#### IR Stream
|
||||
* `/camera/toggle_ir`
|
||||
|
||||
```bash
|
||||
ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/get_ir_exposure` & `/camera/get_ir_gain`
|
||||
```bash
|
||||
ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_ir_auto_exposure`
|
||||
```bash
|
||||
ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_ir_exposure` & `/camera/set_ir_gain`
|
||||
```bash
|
||||
ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
|
||||
ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
|
||||
```
|
||||
* `/camera/switch_ir`
|
||||
```bash
|
||||
ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'
|
||||
```
|
||||
|
||||
#### All Streams
|
||||
* `/camera/get_streams_enable` & `/camera/set_streams_enable`
|
||||
```bash
|
||||
ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
|
||||
ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'
|
||||
```
|
||||
|
||||
### Sensor & Emitter Control
|
||||
|
||||
* `/camera/set_auto_white_balance` & `/camera/get_auto_white_balance`
|
||||
```bash
|
||||
ros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_white_balance` & `/camera/get_white_balance`
|
||||
```bash
|
||||
ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
|
||||
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
|
||||
```
|
||||
* `/camera/set_laser_enable`
|
||||
```bash
|
||||
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_ldp_enable` & `/camera/get_ldp_status`
|
||||
```bash
|
||||
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
|
||||
ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'
|
||||
```
|
||||
* `/camera/set_fan_work_mode`
|
||||
```bash
|
||||
ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
|
||||
```
|
||||
* `/camera/set_floor_enable`
|
||||
```bash
|
||||
ros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
|
||||
### Device Information & Management
|
||||
|
||||
* `/camera/get_device_info`
|
||||
```bash
|
||||
ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo
|
||||
```
|
||||
* `/camera/get_sdk_version`
|
||||
```bash
|
||||
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
|
||||
```
|
||||
* `/camera/reboot_device`
|
||||
```bash
|
||||
ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'
|
||||
```
|
||||
|
||||
### Synchronization & Triggering
|
||||
|
||||
* `/camera/send_software_trigger`
|
||||
```bash
|
||||
ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
|
||||
```* `/camera/set_reset_timestamp`
|
||||
```bash
|
||||
# Only available when time_domain param is set to device
|
||||
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'
|
||||
```
|
||||
* `/camera/set_sync_interleaverlaser`
|
||||
```bash
|
||||
# Only available if interleave_ae_mode is 'laser' and interleave_frame_enable is true
|
||||
ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
|
||||
```
|
||||
|
||||
### Depth Filter Configuration
|
||||
|
||||
* `/camera/set_filter`
|
||||
```bash
|
||||
# Set DecimationFilter
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
|
||||
# Set SpatialAdvancedFilter
|
||||
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'
|
||||
```
|
||||
|
||||
### Data Capture & Calibration Management
|
||||
|
||||
* `/camera/save_images`
|
||||
```bash
|
||||
ros2 service call /camera/save_images std_srvs/srv/Empty '{}'
|
||||
```
|
||||
* `/camera/save_point_cloud`
|
||||
```bash
|
||||
ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'
|
||||
```
|
||||
|
||||
> **Note**: The following services are currently supported only on the 435Le module. Each service can store only one set of data or string at a time.
|
||||
|
||||
* `/camera/write_customer_data` & `/camera/read_customer_data`
|
||||
```bash
|
||||
ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
|
||||
ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'
|
||||
```
|
||||
* `/camera/set_user_calib_params` & `/camera/get_user_calib_params`
|
||||
```bash
|
||||
ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
|
||||
'{k: [614.9613647460938, 0.0, 634.91552734375,
|
||||
0.0, 614.65771484375, 391.407470703125,
|
||||
0.0, 0.0, 1.0],
|
||||
d: [-0.03131488710641861,
|
||||
0.032955970615148544,
|
||||
9.096559369936585e-05,
|
||||
-0.0003368517500348389,
|
||||
-0.01115430984646082,
|
||||
0.0, 0.0, 0.0],
|
||||
rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,
|
||||
-0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,
|
||||
0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
|
||||
translation: [-0.023897956848144532,
|
||||
-9.439220279455185e-05,
|
||||
-6.804073229432106e-06]}'
|
||||
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
### TF from coordinate A to coordinate B:
|
||||
|
||||
In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
|
||||
|
||||
Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
|
||||
|
||||
Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
|
||||
|
||||
Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
|
||||
```
|
||||
|
||||
|
||||
@@ -0,0 +1,67 @@
|
||||
# Available Topics
|
||||
|
||||
Topics are organized by stream and function. By default, all topics are published under the `/camera` namespace, which can be changed with the `camera_name` launch parameter.
|
||||
|
||||
> **Note:** Topics for a specific stream (e.g., `/camera/color/...`) are only published if their corresponding launch parameter (e.g., `enable_color`) is set to `true`.
|
||||
|
||||
### Image Streams
|
||||
|
||||
These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for `color`, `depth`, `ir`, `left_ir`, and `right_ir` streams.
|
||||
|
||||
* `/camera/color/image_raw`
|
||||
* Raw image data from the color stream.
|
||||
* `/camera/color/camera_info`
|
||||
* Camera calibration data and metadata for the color stream.
|
||||
* `/camera/color/metadata`
|
||||
* Low-level metadata from the color stream firmware.
|
||||
|
||||
* `/camera/depth/image_raw`
|
||||
* Raw image data from the depth stream.
|
||||
* `/camera/depth/camera_info`
|
||||
* Camera calibration data and metadata for the depth stream.
|
||||
* `/camera/depth/metadata`
|
||||
* Low-level metadata from the depth stream firmware.
|
||||
|
||||
* `/camera/ir/image_raw`
|
||||
* Raw image data from the infrared (IR) stream.
|
||||
* `/camera/ir/camera_info`
|
||||
* Camera calibration data and metadata for the IR stream.
|
||||
* `/camera/ir/metadata`
|
||||
* Low-level metadata from the IR stream firmware.
|
||||
|
||||
### Point Cloud Topics
|
||||
|
||||
* `/camera/depth/points`
|
||||
* Point cloud data generated from the depth stream.
|
||||
* **Condition:** Published only when `enable_point_cloud` is `true`.
|
||||
|
||||
* `/camera/depth_registered/points`
|
||||
* Colored point cloud data, where the depth points are registered to the color image frame.
|
||||
* **Condition:** Published only when `enable_colored_point_cloud` is `true`.
|
||||
|
||||
### IMU Topics
|
||||
|
||||
The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope data. Their behavior depends on the synchronization setting.
|
||||
|
||||
* `/camera/accel/sample`
|
||||
* Individual accelerometer data stream.
|
||||
* **Condition:** Published when `enable_accel` is `true` AND `enable_sync_output_accel_gyro` is `false`.
|
||||
|
||||
* `/camera/gyro/sample`
|
||||
* Individual gyroscope data stream.
|
||||
* **Condition:** Published when `enable_gyro` is `true` AND `enable_sync_output_accel_gyro` is `false`.
|
||||
|
||||
* `/camera/gyro_accel/sample`
|
||||
* Synchronized data stream containing both accelerometer and gyroscope data in a single message.
|
||||
* **Condition:** Published when `enable_sync_output_accel_gyro` is `true`.
|
||||
|
||||
### Device Status & Diagnostics
|
||||
|
||||
* `/camera/device_status`
|
||||
* Reports the current status of the camera device.
|
||||
|
||||
* `/camera/depth_filter_status`
|
||||
* Reports the status of the depth sensor's post-processing filters.
|
||||
|
||||
* `/diagnostics`
|
||||
* Publishes diagnostic information about the camera node. Currently, this includes the device temperature.
|
||||
Reference in New Issue
Block a user