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<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>2.2. Registration script (required) &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
<title>2.3. Registration Script (Required) &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
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@@ -22,7 +22,7 @@
<link rel="index" title="Index" href="../../genindex.html" />
<link rel="search" title="Search" href="../../search.html" />
<link rel="next" title="3. Quickstarts" href="../3_quickstarts/quickstarts.html" />
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@@ -62,12 +62,21 @@
</ul>
</li>
<li class="toctree-l1 current"><a class="reference internal" href="installation.html">2. Installation</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html">2.1. Build from Source</a><ul>
<li class="toctree-l2"><a class="reference internal" href="build_the_package.html">2.1. Binary Installation</a><ul>
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#id1">2.2.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux-ros2-wrapper-compilation">2.2.2. Linux ROS2 Wrapper Compilation</a></li>
</ul>
</li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">2.3. Registration Script (Required)</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#binary-installation">2.3.1. Binary Installation</a></li>
<li class="toctree-l3"><a class="reference internal" href="#build-from-source">2.3.2. Build from Source</a></li>
</ul>
</li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">2.2. Registration script (required)</a></li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
@@ -152,15 +161,16 @@
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.2. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.3. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.3.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.3.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.4. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.4.2. Function Breakdown</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
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@@ -358,7 +368,7 @@
<ul class="wy-breadcrumbs">
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
<li class="breadcrumb-item"><a href="installation.html"><span class="section-number">2. </span>Installation</a></li>
<li class="breadcrumb-item active"><span class="section-number">2.2. </span>Registration script (required)</li>
<li class="breadcrumb-item active"><span class="section-number">2.3. </span>Registration Script (Required)</li>
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@@ -369,8 +379,17 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="registration-script-required">
<h1><span class="section-number">2.2. </span>Registration script (required)<a class="headerlink" href="#registration-script-required" title="Link to this heading"></a></h1>
<p>To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules:</p>
<h1><span class="section-number">2.3. </span>Registration Script (Required)<a class="headerlink" href="#registration-script-required" title="Link to this heading"></a></h1>
<p>To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules.</p>
<section id="binary-installation">
<h2><span class="section-number">2.3.1. </span>Binary Installation<a class="headerlink" href="#binary-installation" title="Link to this heading"></a></h2>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>cp<span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/share/orbbec_camera/udev/99-obsensor-libusb.rules<span class="w"> </span>/etc/udev/rules.d/
sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
</pre></div>
</div>
</section>
<section id="build-from-source">
<h2><span class="section-number">2.3.2. </span>Build from Source<a class="headerlink" href="#build-from-source" title="Link to this heading"></a></h2>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo<span class="w"> </span>bash<span class="w"> </span>install_udev_rules.sh
sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
@@ -378,13 +397,14 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
</div>
<p>This step is <strong>mandatory</strong> for Linux users.</p>
<p><code class="docutils literal notranslate"><span class="pre">Notes:</span></code> If this script is not executed, open the device will fail due to permission issues. You need to run the sample with sudo (administrator privileges).</p>
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@@ -392,7 +412,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
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