diff --git a/Lidar.MD b/Lidar.MD deleted file mode 100644 index f47812c2..00000000 --- a/Lidar.MD +++ /dev/null @@ -1,219 +0,0 @@ -# OrbbecSDK ROS2 LiDAR Driver - -This ROS2 driver supports your use of Orbbec single-line/multi-line LiDAR. This document provides installation instructions## 4. IMU Data - -### 4.1 IMU Topics - -When IMU is enabled, the following topics will be published: - -- **`/lidar/imu/sample`**: Unified IMU topic containing synchronized accelerometer and gyroscope data in `sensor_msgs/Imu` format. -- **`/lidar/lidar_to_imu`**: Transform from LiDAR frame to IMU frame. - -### 4.2 Using IMU Dataides, and other important information to help you quickly get started using this driver. - -## 1. Installation - -### 1.1 Prerequisites - -Before using the OrbbecSDK ROS2 LiDAR driver, please ensure that the following dependencies are installed on your system: - -- **ROS2**: A valid installation of ROS2 (Humble, Foxy, or other supported distributions). - - If you need help, please refer to the [ROS2 Installation Guide](https://docs.ros.org/en/foxy/Installation.html). - -### 1.2 Install deb Dependencies - -```bash -# assume you have sourced ROS environment, same blow -sudo apt install libgflags-dev nlohmann-json3-dev \ -ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ -ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ -ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \ -ros-$ROS_DISTRO-backward-ros libdw-dev -``` - -### 1.3 Install udev Rules - -```bash -cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts -sudo bash install_udev_rules.sh -sudo udevadm control --reload-rules && sudo udevadm trigger -``` - -### 1.4 Build the Package - -```bash -cd ~/ros2_ws/ -# Build release version, default is Debug -colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release -``` - -### 1.5 Launch the LiDAR Node - -* First terminal - -```bash -. ./install/setup.bash -ros2 launch orbbec_camera lidar.launch.py -``` - -* Second terminal - -```bash -. ./install/setup.bash -rviz2 -``` - -1. Open Rviz2. -2. Add a `PointCloud2` or `LaserScan` display. -3. For `PointCloud2`, select the `/lidar/cloud/points` topic; for `LaserScan`, select the `/lidar/scan/points` topic. -4. Set the `Fixed Frame` to `lidar_lidar_frame` to properly align the data. - -* `PointCloud2` visualization example: - -![module in rviz2](./docs/images/lidar0.jpg) - -* `LaserScan` visualization example: - -![module in rviz2](./docs/images/lidar1.png) - -## 2. Usage - -### 2.1 Running the Driver - -To start the driver, launch the provided ROS2 launch file: - -```bash -source install/setup.bash -# Launch the driver with point cloud data -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT -# Launch the driver with sphere point cloud data -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT -# Launch the driver with laser scan data -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SCAN -# Launch the driver with IMU enabled -ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz -# Launch the driver with both point cloud and IMU data -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT enable_imu:=true imu_rate:=100hz -``` - -This command will start the node that interfaces with the Orbbec LiDAR device. Please ensure that the LiDAR hardware is properly connected before running this command. - -### 2.2 Get Device Information for Connected LiDARs - -```bash -ros2 run orbbec_camera list_devices_node -``` - -This command will list the connected LiDAR devices and display their respective IP addresses and ports. You can use this information to configure the driver to connect to specific devices. - -### 2.3 Check Which Configurations the LiDAR Supports - -```bash -ros2 run orbbec_camera list_camera_profile_mode_node -``` - -### 2.4 Parameters and Configuration - -The `lidar.launch.py` file contains default parameters for the driver. You can customize these settings by modifying the launch file or creating a custom configuration file. Key parameters include: - -- **device_type**: The type of device to launch. Optional values: `lidar`, `camera`. Setting this parameter to `lidar` launches the LiDAR device, setting it to `camera` launches the camera device. -- **camera_name**: Launch node namespace. -- **device_num**: Number of devices. This must be filled if you need to launch multiple devices. -- **upgrade_firmware**: Firmware upgrade function. The input parameter is the firmware path. -- **connection_delay**: Delay time (in milliseconds) for reopening the device. Immediately reopening the device during hot-plugging may cause firmware crashes. -- **publish_tf**: Enable TF publishing. -- **tf_publish_rate**: TF publishing frequency. -- **lidar_format**: Data format for the LiDAR. Optional values: `LIDAR_POINT`, `LIDAR_SPHERE_POINT`, `LIDAR_SCAN` -- **lidar_rate**: Scan rate of the LiDAR. -- **publish_n_pkts**: Number of frames to accumulate before publishing merged point cloud. Range: 1-12000. Only effective when lidar_format is `LIDAR_POINT` or `LIDAR_SPHERE_POINT`, used to merge specified number of frames before publishing. Default value: `1` -- **enable_scan_to_point**: Enable conversion of scan data to point cloud data, publishing PointCloud2 data type topics. -- **repetitive_scan_mode**: Repetitive scan mode parameter. -- **filter_level**: Add filter level parameter. -- **vertical_fov**: Vertical angle parameter. -- **min_angle**: Minimum angle of the LiDAR scan range in degrees (e.g., `-135.0`). Default value: `-135.0`. -- **max_angle**: Maximum angle of the LiDAR scan range in degrees (e.g., `135.0`). Default value: `135.0`. -- **min_range**: Minimum distance the LiDAR can measure in meters. Default value: `0.05`. -- **max_range**: Maximum distance the LiDAR can measure in meters. Default value: `30.0`. -- **echo_mode**: Echo mode of the LiDAR. Optional values: `Last Echo`, `First Echo` -- **point_cloud_qos**: ROS 2 message Quality of Service (QoS) settings. Possible values include `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, and `SENSOR_DATA`, and are case-insensitive. These values 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. -- **enumerate_net_device**: Enable automatic enumeration of network devices. -- **net_device_ip**: IP address of the network device. -- **net_device_port**: Port number on the network side. -- **log_level**: SDK log level, default value is `none`, optional values are `debug`, `info`, `warn`, `error`, `fatal` -- **time_domain**: Timestamp type of the device. Optional values are `device`, `global`, `system` -- **config_file_path**: Path to the YAML configuration file. Default value is "". If no configuration file is specified, default parameters from the launch file will be used. -- **enable_heartbeat**: Enable heartbeat function, default is `false`. If set to `true`, the camera node will send heartbeat signals to the firmware; this should also be set to `true` if hardware logging is required. -- **enable_imu**: Enable IMU (accelerometer + gyroscope) and output unified IMU topic data. -- **imu_rate**: Unified frequency of the IMU (both accelerometer and gyroscope). -- **accel_range**: Range of the accelerometer. -- **gyro_range**: Range of the gyroscope. -- **linear_accel_cov**: Linear acceleration covariance value, default is `0.0001`. -- **angular_vel_cov**: Angular velocity covariance value, default is `0.0001`. - -## 3. Point Cloud Data Details - -### 3.1 Point Cloud Format - -PointCloud2 (PointXYZITO) point cloud format is as follows: - -``` -float32 x # X axis, unit: meters -float32 y # Y axis, unit: meters -float32 z # Z axis, unit: meters -uint8 intensity # LiDAR intensity -uint8 tag # LiDAR tag -uint32 offset_time # Point cloud offset relative to topic time, unit nanoseconds -``` - -### 3.2 Point Cloud Aggregation Functionality - -The `publish_n_pkts` parameter enables point cloud aggregation functionality, which allows the LiDAR to accumulate a specified number of frames before publishing, then merge these frames into a larger point cloud data package for publishing. - -#### Features: - -- **Parameter Range**: 1-12000 frames -- **Applicable Formats**: Only effective when lidar format is `LIDAR_POINT` or `LIDAR_SPHERE_POINT` -- **Default Value**: 1 (no aggregation, each frame published individually) -- **Purpose**: Improve point cloud density, suitable for applications requiring denser point cloud data - -#### Usage Examples: - -```bash -# Aggregate 10 frames before publishing -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT publish_n_pkts:=10 - -# Aggregate 100 frames before publishing -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT publish_n_pkts:=100 -``` - -**Note**: Increasing the `publish_n_pkts` value will improve point cloud density but will also increase latency and memory usage. Please adjust according to actual application requirements. - -## 4. IMU Data - -### 4.1 IMU Topics - -When IMU is enabled, the following topics will be published: - -- **`/lidar/imu/sample`**: Unified IMU topic containing synchronized accelerometer and gyroscope data in `sensor_msgs/Imu` format. -- **`/lidar/lidar_to_imu`**: Transform from LiDAR frame to IMU frame. - -### 4.2 Using IMU Data - -To enable IMU data collection: - -```bash -# Launch with IMU enabled -ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz - -# Check IMU topics -ros2 topic list | grep imu - -# View IMU data -ros2 topic echo /lidar/imu/sample -``` - -The IMU data includes: - -- **linear_acceleration**: 3D acceleration data (x, y, z) in m/s² -- **angular_velocity**: 3D angular velocity data (x, y, z) in rad/s -- **orientation**: Quaternion orientation (not provided by hardware, set to zero) diff --git a/Lidar_CN.MD b/Lidar_CN.MD deleted file mode 100644 index f0429d4c..00000000 --- a/Lidar_CN.MD +++ /dev/null @@ -1,217 +0,0 @@ -# OrbbecSDK ROS2 激光雷达驱动 - -本ROS2驱动支持您使用奥比中光单线/多线激光雷达。本文档提供安装说明、使用指南和其他重要信息，帮助您快速开始使用此驱动。 - -## 1. 安装 - -### 1.1 先决条件 - -在使用OrbbecSDK ROS2激光雷达驱动之前，请确保您的系统已安装以下依赖项：## 4. IMU数据 - -### 4.1 IMU话题 - -启用IMU时，将发布以下话题： - -- **`/lidar/imu/sample`**: 统一的IMU话题，包含 `sensor_msgs/Imu`格式的同步加速度计和陀螺仪数据。 -- **`/lidar/lidar_to_imu`**: 从激光雷达坐标系到IMU坐标系的变换。 - -### 4.2 使用IMU数据**: 有效的ROS2安装（Humble、Foxy或其他支持的发行版）。 - - 如果您需要帮助，请参考[ROS2安装指南](https://docs.ros.org/en/foxy/Installation.html)。 - -### 1.2 安装deb依赖项 - -```bash -# 假设您已经配置了ROS环境，下同 -sudo apt install libgflags-dev nlohmann-json3-dev \ -ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ -ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ -ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \ -ros-$ROS_DISTRO-backward-ros libdw-dev -``` - -### 1.3 安装udev规则 - -```bash -cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts -sudo bash install_udev_rules.sh -sudo udevadm control --reload-rules && sudo udevadm trigger -``` - -### 1.4 构建包 - -```bash -cd ~/ros2_ws/ -# 构建发布版本，默认为调试版本 -colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release -``` - -### 1.5 启动激光雷达节点 - -* 第一个终端 - -```bash -. ./install/setup.bash -ros2 launch orbbec_camera lidar.launch.py -``` - -* 第二个终端 - -```bash -. ./install/setup.bash -rviz2 -``` - -1. 打开Rviz2。 -2. 添加 `PointCloud2`或 `LaserScan`显示。 -3. 对于 `PointCloud2`，选择 `/lidar/cloud/points`话题；对于 `LaserScan`，选择 `/lidar/scan/points`话题。 -4. 将 `Fixed Frame`设置为 `lidar_lidar_frame`以正确对齐数据。 - -* `PointCloud2`可视化示例： - -![rviz2中的模块](./docs/images/lidar0.jpg) - -* `LaserScan`可视化示例： - -![rviz2中的模块](./docs/images/lidar1.png) - -## 2. 使用方法 - -### 2.1 运行驱动 - -要启动驱动，请启动提供的ROS2启动文件： - -```bash -source install/setup.bash -# 启动带有点云数据的驱动 -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT -# 启动带有球面点云数据的驱动 -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT -# 启动带有激光扫描数据的驱动 -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SCAN -# 启动启用IMU的驱动 -ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz -# 启动同时包含点云和IMU数据的驱动 -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT enable_imu:=true imu_rate:=100hz -``` - -此命令将启动与奥比中光激光雷达设备接口的节点。请确保在运行此命令之前正确连接激光雷达硬件。 - -### 2.2 获取已连接激光雷达的设备信息 - -```bash -ros2 run orbbec_camera list_devices_node -``` - -此命令将列出已连接的激光雷达设备并显示其各自的IP地址和端口。您可以使用此信息配置驱动以连接到特定设备。 - -### 2.3 检查激光雷达支持的配置 - -```bash -ros2 run orbbec_camera list_camera_profile_mode_node -``` - -### 2.4 参数和配置 - -`lidar.launch.py`文件包含驱动的默认参数。您可以通过修改启动文件或创建自定义配置文件来自定义这些设置。关键参数包括： - -- **device_type**: 要启动的设备类型。可选值：`lidar`、`camera`。将此参数设置为 `lidar`启动激光雷达设备，设置为 `camera`启动摄像头设备。 -- **camera_name**: 启动节点命名空间。 -- **device_num**: 设备数量。如果需要启动多个设备，则必须填写此项。 -- **upgrade_firmware**: 固件升级功能。输入参数是固件路径。 -- **connection_delay**: 重新打开设备的延迟时间（毫秒）。在热插拔期间立即重新打开设备可能导致固件崩溃。 -- **publish_tf**: 启用TF发布。 -- **tf_publish_rate**: TF发布频率。 -- **lidar_format**: 激光雷达的数据格式。可选值：`LIDAR_POINT`、`LIDAR_SPHERE_POINT`、`LIDAR_SCAN` -- **lidar_rate**: 激光雷达的扫描频率。 -- **publish_n_pkts**: 多帧数据合并发布的帧数量。范围：1-12000。仅在激光雷达格式为 `LIDAR_POINT` 或 `LIDAR_SPHERE_POINT` 时生效，用于累积指定数量的帧后再发布合并的点云数据。默认值：`1` -- **enable_scan_to_point**: 启用扫描数据到点云数据的转换，发布PointCloud2数据类型话题。 -- **repetitive_scan_mode**: 重复扫描模式参数。 -- **filter_level**: 添加过滤级别参数。 -- **vertical_fov**: 垂直角度参数。 -- **min_angle**: 激光雷达扫描范围的最小角度（度）（例如，`-135.0`）。默认值：`-135.0` -- **max_angle**: 激光雷达扫描范围的最大角度（度）（例如，`135.0`）。默认值：`135.0` -- **min_range**: 激光雷达可测量的最小距离（米）。默认值：`0.05` -- **max_range**: 激光雷达可测量的最大距离（米）。默认值：`30.0` -- **echo_mode**: 激光雷达的回波模式。可选值：`Last Echo`、`First Echo` -- **point_cloud_qos**: ROS 2消息服务质量（QoS）设置。可能的值包括 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`和 `SENSOR_DATA`，不区分大小写。这些值分别对应 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters`和 `SENSOR_DATA`。 -- **enumerate_net_device**: 启用网络设备的自动枚举。 -- **net_device_ip**: 网络设备的IP地址。 -- **net_device_port**: 网络端的端口号。 -- **log_level**: SDK日志级别，默认值为 `none`，可选值为 `debug`、`info`、`warn`、`error`、`fatal` -- **time_domain**: 设备的时间戳类型。可选值为 `device`、`global`、`system` -- **config_file_path**: YAML配置文件的路径。默认值为""。如果未指定配置文件，将使用启动文件中的默认参数。 -- **enable_heartbeat**: 启用心跳功能，默认为 `false`。如果设置为 `true`，相机节点将向固件发送心跳信号；如果需要硬件日志记录，也应将其设置为 `true`。 -- **enable_imu**: 启用IMU（加速度计+陀螺仪）并输出统一的IMU话题数据。 -- **imu_rate**: IMU的统一频率（加速度计和陀螺仪）。 -- **accel_range**: 加速度计的量程。 -- **gyro_range**: 陀螺仪的量程。 -- **linear_accel_cov**: 线性加速度协方差值，默认为 `0.0001`。 -- **angular_vel_cov**: 角速度协方差值，默认为 `0.0001`。 - -## 3. 点云数据详细说明 - -### 3.1 点云格式 - -PointCloud2 (PointXYZITO) 点云格式如下： - -``` -float32 x # X轴，单位：米 -float32 y # Y轴，单位：米 -float32 z # Z轴，单位：米 -uint8 intensity # 激光雷达强度 -uint8 tag # 激光雷达标签 -uint32 offset_time # 点云相对话题时间的偏移量，单位纳秒 -``` - -### 3.2 点云聚合功能 - -通过 `publish_n_pkts` 参数可以开启点云聚合功能，该功能允许激光雷达在发布数据前累积指定数量的帧，然后将这些帧合并为一个更大的点云数据包进行发布。 - -#### 功能特点： - -- **参数范围**: 1-12000 帧 -- **适用格式**: 仅在激光雷达格式为 `LIDAR_POINT` 或 `LIDAR_SPHERE_POINT` 时有效 -- **默认值**: 1（即不聚合，每帧单独发布） -- **用途**: 提高点云密度，适用于需要更密集点云数据的应用场景 - -#### 使用示例： - -```bash -# 聚合10帧数据后发布 -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT publish_n_pkts:=10 - -# 聚合100帧数据后发布 -ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT publish_n_pkts:=100 -``` - -**注意**: 增加 `publish_n_pkts` 值会提高点云密度，但同时会增加延迟和内存使用量，请根据实际应用需求进行调整。 - -## 4. IMU数据 - -### 4.1 IMU话题 - -启用IMU时，将发布以下话题： - -- **`/lidar/imu/sample`**: 统一的IMU话题，包含 `sensor_msgs/Imu`格式的同步加速度计和陀螺仪数据。 -- **`/lidar/lidar_to_imu`**: 从激光雷达坐标系到IMU坐标系的变换。 - -### 4.2 使用IMU数据 - -要启用IMU数据采集： - -```bash -# 启动并启用IMU -ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz - -# 检查IMU话题 -ros2 topic list | grep imu - -# 查看IMU数据 -ros2 topic echo /lidar/imu/sample -``` - -IMU数据包括： - -- **linear_acceleration**: 3D加速度数据（x、y、z），单位：m/s² -- **angular_velocity**: 3D角速度数据（x、y、z），单位：rad/s -- **orientation**: 四元数方向（硬件不提供，设置为零） diff --git a/README.MD b/README.MD index d2101d9d..89db07ce 100644 --- a/README.MD +++ b/README.MD @@ -136,6 +136,17 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x): full maintenance recommended for new designs + + LiDAR + Pulsar ME450 + not supported + recommended for new designs + + + Pulsar SL450 + not supported + recommended for new designs + @@ -168,7 +179,7 @@ sudo apt install libgflags-dev nlohmann-json3-dev \ ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \ -ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev +ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev mesa-utils libgl1 ``` Enable ROS 2 auto-completion: @@ -305,6 +316,8 @@ For optimal performance, we strongly recommend updating to the latest firmware v | Femto Mega | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | femto_mega.launch.py | | Femto Mega I | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | femto_mega.launch.py | | Astra 2 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip) | astra2.launch.py | +| Pulsar SL450 | 2.2.4.5 | lidar.launch.py | +| Pulsar ME450 | 1.0.0.6 | lidar.launch.py | All launch files are essentially similar, with the primary difference being the default values of the parameters set for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance. diff --git a/README_CN.MD b/README_CN.MD index c9538a1f..5fc46c3f 100644 --- a/README_CN.MD +++ b/README_CN.MD @@ -135,6 +135,23 @@ OrbbecSDK ROS2 Wrapper 提供 Orbbec 相机与 ROS 2 环境的无缝集成，支 full maintenance recommended for new designs + + Astra Mini + Astra Mini (S) Pro + full maintenance + recommended for new designs + + + LiDAR + Pulsar ME450 + not supported + recommended for new designs + + + Pulsar SL450 + not supported + recommended for new designs + **注意**: 如果您没有找到对应的设备，请联系 FAE 或销售代表获取帮助。 @@ -166,7 +183,7 @@ sudo apt install libgflags-dev nlohmann-json3-dev \ ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \ ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \ -ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev +ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev mesa-utils libgl1 ``` 启用 ROS 2 自动补全： @@ -302,6 +319,8 @@ ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}' | Femto Mega | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | femto_mega.launch.py | | Femto Mega I | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | femto_mega.launch.py | | Astra 2 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip) | astra2.launch.py | +| Pulsar SL450 | 2.2.4.5 | lidar.launch.py | +| Pulsar ME450 | 1.0.0.6 | lidar.launch.py | 所有启动文件基本相似，主要区别在于针对不同型号的默认参数设置。不同的 USB 标准（如 USB 2.0 和 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别是启动文件中的分辨率设置以及其他参数，以确保兼容性和最佳性能。 diff --git a/docs/images/lidar0.jpg b/docs/images/lidar0.jpg deleted file mode 100644 index 471b730e..00000000 Binary files a/docs/images/lidar0.jpg and /dev/null differ diff --git a/docs/images/lidar1.png b/docs/images/lidar1.png deleted file mode 100644 index d1048f6f..00000000 Binary files a/docs/images/lidar1.png and /dev/null differ