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ob-yalian
2025-11-28 12:55:21 +00:00
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en/_sources/source/4_application_guide/coordinate_and_tf.md.txt
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![module in rviz2](../image/application_guide/image1.png)
### TF from coordinate A to coordinate B:
In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position.
You can view the camera's URDF model and coordinate system structure using the following command:
```bash
ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
```
![module in rviz2](../image/application_guide/image2.png)
### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
* Point of View:
en/_sources/source/4_application_guide/launch_parameters.md.txt
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@@ -33,6 +33,14 @@ The following are the launch parameters available:
* Enable filtering of invalid point clouds.
* **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`**
* 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.
* **`color.image_raw.enable_pub_plugins`**
* Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
* **`depth.image_raw.enable_pub_plugins`**
* Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`.
* **`left_ir.image_raw.enable_pub_plugins`**
* Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
* **`right_ir.image_raw.enable_pub_plugins`**
* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
### Sensor Controls
en/_sources/source/4_application_guide/services.md.txt
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#### IR Stream
* `/camera/toggle_ir`
```bash
ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'
```
@@ -114,6 +114,10 @@
```bash
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
```
`/camera/get_laser_status`
```bash
ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
```
* `/camera/set_ldp_enable` & `/camera/get_ldp_status`
```bash
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'