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Joe Dong
2023-07-05 16:07:52 +08:00
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README.MD
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@@ -1,7 +1,8 @@
# orbbec_camera # orbbec_camera
--- ---
OrbbecSDK ROS2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS2 environment. It supports ROS2 Foxy, Galactic, and Humble distributions. OrbbecSDK ROS2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS2 environment. It
supports ROS2 Foxy, Galactic, and Humble distributions.
## Installation Instructions ## Installation Instructions
@@ -43,8 +44,8 @@ ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-
Install udev rules. Install udev rules.
```bash ```bash
cd `~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts` cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install.sh sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger sudo udevadm control --reload-rules && sudo udevadm trigger
``` ```
@@ -184,8 +185,9 @@ to `true` in the stream that corresponds to the argument of the launch file.
- `/camera/color/image_raw`: The color stream image. - `/camera/color/image_raw`: The color stream image.
- `/camera/depth/camera_info`: The depth stream image. - `/camera/depth/camera_info`: The depth stream image.
- `/camera/depth/image_raw`: The depth stream image - `/camera/depth/image_raw`: The depth stream image
- `/camera/depth/points` : The point cloud, only available when `enable_point_cloud` is `true`. - `/camera/depth/points` : The point cloud, only available when `enable_point_cloud` is `true`.
- `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud` is `true`. - `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud`
is `true`.
- `/camera/ir/camera_info`: The IR camera info. - `/camera/ir/camera_info`: The IR camera info.
- `/camera/ir/image_raw`: The IR stream image - `/camera/ir/image_raw`: The IR stream image
@@ -201,38 +203,38 @@ ros2 run orbbec_camera list_devices_node
- Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.xml` file and change the serial number. Currently, - Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.xml` file and change the serial number. Currently,
different cameras can only be differentiated by their serial number. different cameras can only be differentiated by their serial number.
- Don't forget to put the `include` tag inside the `group` tag. - Don't forget to put the `include` tag inside the `group` tag.
Otherwise, the parameter values of different cameras may become contaminated. Otherwise, the parameter values of different cameras may become contaminated.
```xml ```xml
<launch> <launch>
<!-- unique camera name--> <!-- unique camera name-->
<arg name="camera_name" default="camera"/> <arg name="camera_name" default="camera"/>
<!-- Hardware depth registration --> <!-- Hardware depth registration -->
<arg name="3d_sensor" default="astra_mini"/> <arg name="3d_sensor" default="astra_mini"/>
<!-- stereo_s_u3, astrapro, astra --> <!-- stereo_s_u3, astrapro, astra -->
<arg name="camera1_prefix" default="01"/> <arg name="camera1_prefix" default="01"/>
<arg name="camera2_prefix" default="02"/> <arg name="camera2_prefix" default="02"/>
<arg name="camera1_serila_number" default="AY3JB20003C"/> <arg name="camera1_serila_number" default="AY3JB20003C"/>
<arg name="camera2_serila_number" default="CH26420001B"/> <arg name="camera2_serila_number" default="CH26420001B"/>
<arg name="device_num" default="2"/> <arg name="device_num" default="2"/>
<node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/> <node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/>
<group> <group>
<include file="$(find-pkg-share orbbec_camera)/launch/gemini2.launch.xml"> <include file="$(find-pkg-share orbbec_camera)/launch/gemini2.launch.xml">
<arg name="camera_name" value="camera_$(var camera1_prefix)"/> <arg name="camera_name" value="camera_$(var camera1_prefix)"/>
<arg name="serial_number" value="$(var camera1_serila_number)"/> <arg name="serial_number" value="$(var camera1_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/> <arg name="device_num" value="$(var device_num)"/>
</include> </include>
</group> </group>
<group> <group>
<include file="$(find-pkg-share orbbec_camera)/launch/dabai_dcw.launch.xml"> <include file="$(find-pkg-share orbbec_camera)/launch/dabai_dcw.launch.xml">
<arg name="camera_name" value="camera_$(var camera2_prefix)"/> <arg name="camera_name" value="camera_$(var camera2_prefix)"/>
<arg name="serial_number" value="$(var camera2_serila_number)"/> <arg name="serial_number" value="$(var camera2_serila_number)"/>
<arg name="device_num" value="$(var device_num)"/> <arg name="device_num" value="$(var device_num)"/>
</include> </include>
</group> </group>
<node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf" <node pkg="tf2_ros" exec="static_transform_publisher" name="camera_tf"
args="0 0 0 0 0 0 camera01_link camera02_link"/> args="0 0 0 0 0 0 camera01_link camera02_link"/>
</launch> </launch>
``` ```
@@ -282,6 +284,32 @@ The following are the launch parameters available:
This field is required when the `enable_colored_point_cloud` is set to `true`. This field is required when the `enable_colored_point_cloud` is set to `true`.
- `enable_publish_extrinsic`: Enables the publishing of camera extrinsic information. - `enable_publish_extrinsic`: Enables the publishing of camera extrinsic information.
## Launch files
| product serials | launch file |
|---------------------|---------------------------|
| asta+ | astra_adv.launch.xml |
| astra mini | astra_mini.launch.xml |
| astra mini pro | astra_mini_pro.launch.xml |
| astra pro | astra_pro.launch.xml |
| astra stereo s | stereo_s_u3.launch.xml |
| dabai | dabai.launch.xml |
| dabai d1 | dabai_d1.launch.xml |
| dabai dcw | dabai_dcw.launch.xml |
| dabai dw | dabai_dw.launch.xml |
| dabai pro | dabai_pro.launch.xml |
| deeya | deeya.launch.xml |
| femto | femto.launch.xml |
| femto mega | femto_mega.launch.xml |
| femto w | femto_w.launch.xml |
| gemini | gemini.launch.xml |
| gemini | gemini.launch.xml |
| gemini2 / dabai DCL | gemini2.launch.xml |
| gemini e | gemini_e.launch.xml |
| gemini e lite | gemini_e_lite.launch.xml |
Actually, All launch files all most the same, the only difference is the default value of the parameters.
## DDS Tuning ## DDS Tuning
The default DDS settings (Galactic) may not be optimal for data transmission. Different DDS settings can have varying The default DDS settings (Galactic) may not be optimal for data transmission. Different DDS settings can have varying
README_CN.MD
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@@ -41,8 +41,8 @@ ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-
安装 udev rules. 安装 udev rules.
```bash ```bash
cd `~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts` cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install.sh sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger sudo udevadm control --reload-rules && sudo udevadm trigger
``` ```