mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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add supported devices list
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# OrbbecSDK ROS2
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# OrbbecSDK ROS2 Wrapper v2
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[](http://github.com/badges/stability-badges) 
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OrbbecSDK_ROS2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS 2 environment. It
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supports ROS 2 Foxy, Humble, and Jazzy distributions.
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> [!IMPORTANT]
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>
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> Welcome to the OrbbecSDK ROS2 Wrapper v2. Before you begin using this version of ROS2 Wrapper, it's crucial to check the [device support list] (#product-support) to verify that your device is supported to ensure compatibility.
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With the major update of the new branch [v2-main](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main?tab=readme-ov-file) in October 2024, OrbbecSDK_ROS2 is connected to the open source version of [OrbbecSDK v2](https://github.com/orbbec/OrbbecSDK_v2/releases), which will make OrbbecSDK_ROS2 more flexible and extensible. This update in v2-main ensures compatibility with all new Orbbec USB products that comply with the UVC standard. However, OrbbecSDK_ROS2 v2 no longer supports Orbbec's traditional OpenNI protocol devices. We encourage you to check whether your device is supported by OrbbecSDK_ROS2 v2 and use the new version if supported.
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OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.
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| product serials | Firmware Version | **Firmware Version** |
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| :-------------: | :--------------: | :-------------------------: |
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| Astra2 | 2.8.20 | astra2.launch.py |
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| Femto mega | 1.1.7/1.2.7 | femto_mega.launch.py |
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| Femto bolt | 1.0.6/1.0.9 | femto_bolt.launch.py |
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| Gemini2 | 1.4.60 /1.4.76 | gemini2.launch.py |
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| Gemini2L | 1.4.32 | gemini2L.launch.py |
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| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
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| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
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With a major update in October 2024, OrbbecSDK ROS2 Wrapper v2 is connected to the Open Source [OrbbecSDK v2](https://github.com/orbbec/OrbbecSDK_v2/releases) 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.
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If the camera you are using is not in this supported list, you can use the repository under the [main branch](https://github.com/orbbec/OrbbecSDK_ROS2/tree/main) to use your camera
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Below is the list of supported devices.
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<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
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<thead>
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<tr style="background-color: #1f4e78; color: white; text-align: center;">
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<th>Product Series</th>
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<th>Product</th>
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<th>Branch main</th>
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<th>Branch v2-main</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td rowspan="7" style="text-align: center; font-weight: bold;">Gemini 330</td>
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<td>Gemini 335</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 336</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 330</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 335L</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 336L</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 330L</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 335Lg</td>
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<td>not supported</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td rowspan="3" style="text-align: center; font-weight: bold;">Gemini 2</td>
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<td>Gemini 2</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 2 L</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 2 XL</td>
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<td>recommended for new designs</td>
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<td>to be supported</td>
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</tr>
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<tr>
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<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
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<td>Femto Bolt</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<tr>
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<td>Femto Mega I</td>
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<td>full maintenance</td>
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<td>to be supported</td>
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</tr>
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<tr>
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<td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
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<td>Astra 2</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Astra+</td>
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<td>limited maintenance</td>
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<td>not supported</td>
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</tr>
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<tr>
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<td>Astra Pro Plus</td>
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<td>limited maintenance</td>
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<td>not supported</td>
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</tr>
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<tr>
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<td style="text-align: center; font-weight: bold;">Astra Mini</td>
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<td>Astra Mini Pro</td>
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<td>full maintenance</td>
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<td>not supported</td>
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</tr>
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</tbody>
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</table>
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**Note**: If you do not find your device, please contact our FAE or sales representative for help.
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**Definition**:
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1. recommended for new designs: we will provide full supports with new features, bug fix and performance optimization;
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2. full maintenance: we will provide bug fix support;
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3. limited maintenance: we will provide critical bug fix support;
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4. not supported: we will not support specific device in this version;
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5. to be supported: we will add support in the near future.
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## Table of Contents
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<!-- TOC -->
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* [OrbbecSDK ROS2](#orbbec-ros2-sdk)
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* [Table of Contents](#table-of-contents)
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* [Installation Instructions](#installation-instructions)
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* [Getting start](#getting-start)
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* [Efficient intra-process communication:](#efficient-intra-process-communication)
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* [Example](#example)
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* [Manually loading multiple components into the same process](#manually-loading-multiple-components-into-the-same-process)
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* [Using a launch file](#using-a-launch-file)
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* [Limitations](#limitations)
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* [Use V4L2 backend](#use-v4l2-backend)
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* [Launch parameters](#launch-parameters)
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* [ROS2-vs-Optical Coordination Systems](#ros2robot-vs-opticalcamera-coordination-systems)
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* [Camera sensor structure](#camera-sensor-structure)
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* [TF from coordinate A to coordinate B:](#tf-from-coordinate-a-to-coordinate-b)
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* [Predefined presets](#predefined-presets)
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* [Depth work mode switch](#depth-work-mode-switch)
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* [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes)
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* [All available service for camera control](#all-available-service-for-camera-control)
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* [All available topics](#all-available-topics)
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* [Network device enumeration](#network-device-enumeration)
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* [Multi-Camera](#multi-camera)
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* [Compressed Image](#compressed-image)
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* [Use hardware decoder to decode JPEG](#use-hardware-decoder-to-decode-jpeg)
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* [rockchip and Amlogic](#rockchip-and-amlogic)
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* [Nvidia Jetson](#nvidia-jetson)
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* [Check which profiles the camera supports](#check-which-profiles-the-camera-supports)
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* [Building a Debian Package](#building-a-debian-package)
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* [Preparing the Environment](#preparing-the-environment)
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* [Configuring ROS Dependencies](#configuring-ros-dependencies)
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* [Building the Package](#building-the-package)
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* [Launch files](#launch-files)
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* [Product support](#product-support)
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* [DDS Tuning](#dds-tuning)
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* [Frequently Asked Questions](#frequently-asked-questions)
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* [Unexpected Crash](#unexpected-crash)
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* [No Data Stream from Multiple Cameras](#no-data-stream-from-multiple-cameras)
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* [Additional Troubleshooting](#additional-troubleshooting)
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* [Why Are There So Many Launch Files?](#why-are-there-so-many-launch-files)
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* [Other useful links](#other-useful-links)
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* [License](#license)
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<!-- TOC -->
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- [OrbbecSDK ROS2 Wrapper v2](#orbbecsdk-ros2-wrapper-v2)
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- [Table of Contents](#table-of-contents)
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- [Installation Instructions](#installation-instructions)
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- [Getting start](#getting-start)
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- [Efficient intra-process communication:](#efficient-intra-process-communication)
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- [Example](#example)
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- [Manually loading multiple components into the same process](#manually-loading-multiple-components-into-the-same-process)
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- [Using a launch file](#using-a-launch-file)
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- [Limitations](#limitations)
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- [Use V4L2 backend](#use-v4l2-backend)
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- [Launch parameters](#launch-parameters)
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- [ROS2(Robot) vs Optical(Camera) Coordination Systems](#ros2robot-vs-opticalcamera-coordination-systems)
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- [Camera sensor structure](#camera-sensor-structure)
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- [TF from coordinate A to coordinate B:](#tf-from-coordinate-a-to-coordinate-b)
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- [Predefined presets](#predefined-presets)
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- [Depth work mode switch](#depth-work-mode-switch)
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- [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes)
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- [All available service for camera control](#all-available-service-for-camera-control)
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- [All available topics](#all-available-topics)
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- [Network device enumeration](#network-device-enumeration)
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- [Multi-Camera](#multi-camera)
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- [Compressed Image](#compressed-image)
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- [Use hardware decoder to decode JPEG](#use-hardware-decoder-to-decode-jpeg)
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- [rockchip and Amlogic](#rockchip-and-amlogic)
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- [Nvidia Jetson](#nvidia-jetson)
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- [Check which profiles the camera supports](#check-which-profiles-the-camera-supports)
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- [Building a Debian Package](#building-a-debian-package)
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- [Preparing the Environment](#preparing-the-environment)
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- [Configuring ROS Dependencies](#configuring-ros-dependencies)
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- [Building the Package](#building-the-package)
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- [Supported Devices](#supported-devices)
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- [DDS Tuning](#dds-tuning)
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- [Frequently Asked Questions](#frequently-asked-questions)
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- [Unexpected Crash](#unexpected-crash)
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- [No Data Stream from Multiple Cameras](#no-data-stream-from-multiple-cameras)
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- [Additional Troubleshooting](#additional-troubleshooting)
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- [Why Are There So Many Launch Files?](#why-are-there-so-many-launch-files)
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- [Other useful links](#other-useful-links)
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- [License](#license)
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## Installation Instructions
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@@ -97,7 +194,7 @@ Get source code
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cd ~/ros2_ws/src
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git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
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cd OrbbecSDK_ROS2
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git checkout OrbbecSDK_V2.X
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git checkout v2-main
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```
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Install deb dependencies
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@@ -657,15 +754,19 @@ cd src/OrbbecSDK_ROS2/
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bash .make_deb.sh
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```
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## Launch files
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## Supported Devices
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| product serials | Firmware Version | **Firmware Version** |
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| :-------------: | :--------------: | :-------------------------: |
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Currently, 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 [main](https://github.com/orbbec/OrbbecSDK_ROS2) branch.
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For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
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| Product List | Minimal Firmware Version | **Launch File** |
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| :-------------- | :--------------- | :-------------------------- |
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| Astra2 | 2.8.20 | astra2.launch.py |
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| Femto mega | 1.1.7/1.2.7 | femto_mega.launch.py |
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| Femto bolt | 1.0.6/1.0.9 | femto_bolt.launch.py |
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| Gemini2 | 1.4.60 /1.4.76 | gemini2.launch.py |
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| Gemini2L | 1.4.32 | gemini2L.launch.py |
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| Femto Mega | 1.1.7/1.2.7 | femto_mega.launch.py |
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| Femto Bolt | 1.0.6/1.0.9 | femto_bolt.launch.py |
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| Gemini 2 | 1.4.60 /1.4.76 | gemini2.launch.py |
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| Gemini 2 L | 1.4.32 | gemini2L.launch.py |
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| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
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@@ -673,17 +774,7 @@ bash .make_deb.sh
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| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
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**All launch files are essentially similar, with the primary difference being the default values of the parameters set
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for different models
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within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these
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parameters. If you
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encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution
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settings in the launch
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file, as well as other parameters, to ensure compatibility and optimal performance.**
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## Product support
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Please refer to the OrbbecSDK supported
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products: [Product Support](https://github.com/orbbec/OrbbecSDK?tab=readme-ov-file#product-support)
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for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.**
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## DDS Tuning
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