mirror of
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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||||
</ul>
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||||
</li>
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||||
<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
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</ul>
|
||||
</li>
|
||||
</ul>
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||||
</li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
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</ul>
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||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
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</ul>
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</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
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||||
</ul>
|
||||
</li>
|
||||
</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
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</ul>
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||||
</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
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</ul>
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</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
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||||
</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
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||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
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</li>
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||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega & Gemini 435Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
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||||
</ul>
|
||||
</li>
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||||
</ul>
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||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -347,8 +296,130 @@
|
||||
<section id="introduction">
|
||||
<h1><span class="section-number">1.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h1>
|
||||
<p>OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.</p>
|
||||
<p>With a major update in October 2024, we release the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main">OrbbecSDK ROS2 Wrapper v2</a> connected to the open source <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_v2/releases">OrbbecSDK v2</a> with enhanced flexibility and extensibility. This update ensures compatibility with all Orbbec USB products adhering to UVC standard. However, it no longer supports Orbbec’s traditional OpenNI protocol devices. We strongly encourage you to use the v2-main branch if your device is supported.</p>
|
||||
<p>By default, we recommend using the <strong>v2-main</strong> branch. For older OpenNI devices not supported by v2-main, please use the <strong>main</strong> branch. Device models that are only supported by the main branch are listed in the table below.</p>
|
||||
<p>If you are a user in China, it is recommended to use <a class="reference external" href="https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2">gitee Repo</a>.</p>
|
||||
<p>Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):</p>
|
||||
<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
|
||||
<thead>
|
||||
<tr style="background-color: #1f4e78; color: white; text-align: center;">
|
||||
<th>Product Series</th>
|
||||
<th>Product</th>
|
||||
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">Branch main</a></th>
|
||||
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">Branch v2-main</a></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
|
||||
<td>Gemini 435Le</td>
|
||||
<td>Not supported</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
|
||||
<td>Gemini 335</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 336</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 336L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335Lg</td>
|
||||
<td>Not supported</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 335Le</td>
|
||||
<td>Not supported</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 330</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 330L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3" style="text-align: center; font-weight: bold;">Gemini 2</td>
|
||||
<td>Gemini 2</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 2 L</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Gemini 2 XL</td>
|
||||
<td>Recommended for new designs</td>
|
||||
<td>To be supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
|
||||
<td>Femto Bolt</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Femto Mega I</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>To be supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
|
||||
<td>Astra 2</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Recommended for new designs</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Astra+</td>
|
||||
<td>Limited maintenance</td>
|
||||
<td>Not supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>Astra Pro Plus</td>
|
||||
<td>Limited maintenance</td>
|
||||
<td>Not supported</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: center; font-weight: bold;">Astra Mini</td>
|
||||
<td>Astra Mini Pro</td>
|
||||
<td>Full maintenance</td>
|
||||
<td>Full maintenance</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><strong>Note</strong>: If you do not find your device, please contact our FAE or sales representative for help.</p>
|
||||
<p><strong>Definition</strong>:</p>
|
||||
<ol class="simple">
|
||||
<li><p>Recommended for new designs: we will provide full supports with new features, bug fix and performance optimization;</p></li>
|
||||
<li><p>Full maintenance: we will provide bug fix support;</p></li>
|
||||
<li><p>Limited maintenance: we will provide critical bug fix support;</p></li>
|
||||
<li><p>Not supported: we will not support specific device in this version;</p></li>
|
||||
<li><p>To be supported: we will add support in the near future.</p></li>
|
||||
</ol>
|
||||
<section id="support-hardware-products">
|
||||
<h2><span class="section-number">1.1.1. </span>Support Hardware Products<a class="headerlink" href="#support-hardware-products" title="Link to this heading"></a></h2>
|
||||
<p>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 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">main</a> branch.</p>
|
||||
@@ -462,7 +533,7 @@ for different models within the same series. Differences in USB standards, such
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© Copyright 2025, ORBBEC INC. www.orbbec.com..
|
||||
<span class="lastupdated">Last updated on 2025-09-15 06:27:18.
|
||||
<span class="lastupdated">Last updated on 2025-09-18 07:40:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
Reference in New Issue
Block a user