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OrbbecSDK V2 ROS2 Wrapper
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
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||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
|
||||
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega & Gemini 435Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
|
||||
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
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||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="Page navigation">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item"><a href="overview.html"><span class="section-number">1. </span>Overview</a></li>
|
||||
<li class="breadcrumb-item active"><span class="section-number">1.1. </span>Introduction</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../_sources/source/1_overview/introduction.md.txt" rel="nofollow"> View page source</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<section id="introduction">
|
||||
<h1><span class="section-number">1.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h1>
|
||||
<p>OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.</p>
|
||||
<p>With a major update in October 2024, we release the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main">OrbbecSDK ROS2 Wrapper v2</a> connected to the open source <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_v2/releases">OrbbecSDK v2</a> 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. We strongly encourage you to use the v2-main branch if your device is supported.</p>
|
||||
<p>If you are a user in China, it is recommended to use <a class="reference external" href="https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2">gitee Repo</a>.</p>
|
||||
<section id="support-hardware-products">
|
||||
<h2><span class="section-number">1.1.1. </span>Support Hardware Products<a class="headerlink" href="#support-hardware-products" title="Link to this heading"></a></h2>
|
||||
<p>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 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">main</a> branch.</p>
|
||||
<p>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.</p>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th style="text-align: left;">Product List</th>
|
||||
<th style="text-align: left;">Minimal Firmware Version</th>
|
||||
<th style="text-align: left;"><strong>Launch File</strong></th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 435Le</td>
|
||||
<td style="text-align: left;">1.2.04</td>
|
||||
<td style="text-align: left;">gemini435_le.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 335</td>
|
||||
<td style="text-align: left;">1.2.20</td>
|
||||
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 336</td>
|
||||
<td style="text-align: left;">1.2.20</td>
|
||||
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 335L</td>
|
||||
<td style="text-align: left;">1.2.20</td>
|
||||
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 336L</td>
|
||||
<td style="text-align: left;">1.2.20</td>
|
||||
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 335Lg</td>
|
||||
<td style="text-align: left;">1.3.46</td>
|
||||
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 335Le</td>
|
||||
<td style="text-align: left;">1.5.31</td>
|
||||
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 330</td>
|
||||
<td style="text-align: left;">1.2.20</td>
|
||||
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 330L</td>
|
||||
<td style="text-align: left;">1.2.20</td>
|
||||
<td style="text-align: left;">gemini_330_series.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 2</td>
|
||||
<td style="text-align: left;">1.4.92</td>
|
||||
<td style="text-align: left;">gemini2.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Gemini 2 L</td>
|
||||
<td style="text-align: left;">1.4.53</td>
|
||||
<td style="text-align: left;">gemini2L.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Femto Bolt</td>
|
||||
<td style="text-align: left;">1.1.2</td>
|
||||
<td style="text-align: left;">femto_bolt.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Femto Mega</td>
|
||||
<td style="text-align: left;">1.3.0</td>
|
||||
<td style="text-align: left;">femto_mega.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Astra 2</td>
|
||||
<td style="text-align: left;">2.8.20</td>
|
||||
<td style="text-align: left;">astra2.launch.py</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td style="text-align: left;">Astra Mini Pro</td>
|
||||
<td style="text-align: left;">2.0.01</td>
|
||||
<td style="text-align: left;">astra.launch.py</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p>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.</p>
|
||||
</section>
|
||||
<section id="support-platforms">
|
||||
<h2><span class="section-number">1.1.2. </span>Support Platforms<a class="headerlink" href="#support-platforms" title="Link to this heading"></a></h2>
|
||||
<ul class="simple">
|
||||
<li><p>Linux x64: tested on Ubuntu 22.04</p></li>
|
||||
<li><p>Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX</p></li>
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