diff --git a/en/.doctrees/environment.pickle b/en/.doctrees/environment.pickle index 1c9780d3..536b0d80 100644 Binary files a/en/.doctrees/environment.pickle and b/en/.doctrees/environment.pickle differ diff --git a/en/.doctrees/source/4_application_guide/coordinate_and_tf.doctree b/en/.doctrees/source/4_application_guide/coordinate_and_tf.doctree index 19f0d512..d98e781e 100644 Binary files a/en/.doctrees/source/4_application_guide/coordinate_and_tf.doctree and b/en/.doctrees/source/4_application_guide/coordinate_and_tf.doctree differ diff --git a/en/.doctrees/source/8_FAQ/FAQ.doctree b/en/.doctrees/source/8_FAQ/FAQ.doctree index 8afc49a7..dc4a381d 100644 Binary files a/en/.doctrees/source/8_FAQ/FAQ.doctree and b/en/.doctrees/source/8_FAQ/FAQ.doctree differ diff --git a/en/_sources/source/4_application_guide/coordinate_and_tf.md.txt b/en/_sources/source/4_application_guide/coordinate_and_tf.md.txt index e55289a9..1a7c7a0c 100644 --- a/en/_sources/source/4_application_guide/coordinate_and_tf.md.txt +++ b/en/_sources/source/4_application_guide/coordinate_and_tf.md.txt @@ -6,7 +6,6 @@ ![module in rviz2](../image/application_guide/image1.png) - ### ROS2 Robot Coordinate System vs Camera Optical Coordinate System * Point of View: @@ -96,7 +95,7 @@ In rviz2: ### Camera TF Calculation and Publishing Mechanism -#### Core Function: `OBCameraNode::calcAndPublishStaticTransform()` +#### Core Function: [OBCameraNode::calcAndPublishStaticTransform()](https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475) The camera node uses this function to calculate and publish all static transforms between sensors. @@ -340,4 +339,3 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_) ``` - Publishes raw extrinsics via topic for advanced alignment and registration - diff --git a/en/_sources/source/8_FAQ/FAQ.md.txt b/en/_sources/source/8_FAQ/FAQ.md.txt index a5a02a96..e5380500 100644 --- a/en/_sources/source/8_FAQ/FAQ.md.txt +++ b/en/_sources/source/8_FAQ/FAQ.md.txt @@ -33,4 +33,18 @@ If the camera node crashes unexpectedly, it will generate a crash log in the cur ### Why Are There So Many Launch Files? - Different cameras have varying default resolutions and image formats. -- To simplify usage, each camera has its own launch file. \ No newline at end of file +- To simplify usage, each camera has its own launch file. + +### How to Launch a Specific Camera When Multiple Cameras Are Connected + +While the launch file did not explicitly specify which device to use. In that case, the driver will connect to the default device. + +You can check the serial number of your device by running: +```bash +ros2 run orbbec_camera list_devices_node +``` + +Then launch with the serial number explicitly set, for example: +```bash +ros2 launch orbbec_camera femto_bolt.launch.py serial_number:=CL8H741005J +``` \ No newline at end of file diff --git a/en/genindex.html b/en/genindex.html index 83103d58..31c6e24e 100644 --- a/en/genindex.html +++ b/en/genindex.html @@ -156,7 +156,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -327,6 +327,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -370,7 +371,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/index.html b/en/index.html index 7badf6ad..f035c1ac 100644 --- a/en/index.html +++ b/en/index.html @@ -158,7 +158,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -329,6 +329,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -511,6 +512,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -528,7 +530,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/objects.inv b/en/objects.inv index ec847cc5..61feeadd 100644 Binary files a/en/objects.inv and b/en/objects.inv differ diff --git a/en/search.html b/en/search.html index 094a6c40..29370d6f 100644 --- a/en/search.html +++ b/en/search.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -378,7 +379,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

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Frequently Asked Questions","License"],"titleterms":{"1":8,"2":[8,14,18],"3":8,"335le":23,"435le":23,"No":[26,40],"There":40,"addit":40,"adjust":30,"advanc":[13,17],"advantag":39,"ae":13,"align":18,"all":15,"applic":[8,10],"ar":40,"architectur":2,"ask":40,"avail":[8,15,16],"backend":13,"basic":13,"benchmark":[32,33,34,35],"benckmark":33,"between":39,"branch":39,"breakdown":12,"build":[4,8,37],"c":34,"calcandpublishstatictransform":12,"calcul":12,"calibr":[13,15],"call":8,"camera":[1,7,8,12,13,15,17,22,25,26,27,30,36,40],"captur":15,"chang":28,"check":27,"cloud":[14,16],"color":[13,14,15,18],"command":[14,18,27],"common":[33,34,35],"commun":[29,39],"comparison":39,"compil":4,"comprehens":39,"compress":11,"concept":2,"configur":[13,15,17,19,27,30,34,36,37],"connect":[7,40],"control":[7,13,15],"coordin":12,"core":[12,13],"cpu":31,"crash":40,"data":[15,26,33,36,40],"datasheet":1,"dd":30,"debian":37,"depend":37,"depth":[13,14,15,18,19,20],"develop":38,"devic":[7,13,15,16,39],"diagnost":[13,16],"differ":39,"directori":28,"dispar":13,"disparity_search_offset":21,"document":0,"download":7,"echo":8,"ecosystem":39,"effici":29,"emitt":15,"enabl":14,"environ":[4,31,37],"exampl":[18,28,29,34],"extens":39,"extrins":13,"fast":30,"featur":[8,13],"femto":23,"file":[28,31,36,39,40],"filter":[13,15],"firmwar":[7,13],"first":8,"follow":27,"forc":23,"frame":26,"frequent":40,"from":[4,26,39,40],"function":[12,21,23],"further":31,"gemini":23,"gemini330":22,"gener":13,"gmsl":25,"gmsl_camera":25,"guid":[10,17,38],"hardwar":1,"how":40,"imag":[11,16,18,26],"imu":[13,16],"inform":[7,15],"instal":5,"instruct":27,"interleav":13,"interleave_a":22,"intra":[13,29],"introduct":[1,8,21,22,29,35,39],"ip":23,"ir":[13,15],"json":36,"laser":13,"launch":[8,13,21,22,31,36,39,40],"ldp":13,"licens":41,"limit":25,"linux":4,"list":8,"log":13,"low":26,"lower":31,"main":39,"mainten":39,"manag":15,"mani":40,"mechan":12,"mega":23,"migrat":39,"miscellan":13,"mode":[13,17,19,20],"model":2,"multi":[13,17,25,26,27],"multi_camera":27,"multi_camera_sync":22,"multi_camera_synced_verification_tool":28,"multipl":[26,40],"need":28,"net_camera":23,"network":13,"nfov":19,"node":[8,34,35],"ob_benchmark":36,"obcameranod":12,"open":39,"oper":28,"optic":12,"optim":[17,30],"optimizationa":31,"orbbec":[1,2,30,31],"orbbecsdk":0,"orbbecsdk_ros2":27,"orbbecview":7,"other":36,"output":36,"overlai":18,"overview":[2,3],"packag":[8,31,37],"paramet":[8,13,21,22,30,39],"perform":17,"platform":1,"point":[14,16],"port":27,"predefin":24,"prepar":[28,37],"preset":24,"process":29,"product":1,"program":2,"publish":12,"python":34,"question":40,"quickstart":[7,8,9],"rate":26,"recommend":31,"record":8,"reduc":31,"registr":6,"requir":6,"result":31,"ro":[8,14,18,31,37],"robot":12,"ros2":[0,4,12,30,34],"rosbag2":8,"run":[21,22,27,28,36],"rviz2":[8,12,14,18],"sampl":8,"script":6,"sdk":2,"select":18,"sensor":[12,13,15],"seri":22,"servic":[8,15,33,34,35,39],"set":31,"set_device_ip":23,"setup":[27,31],"singl":25,"so":40,"sourc":[4,8,39],"specif":[13,40],"start":27,"start_benchmark_param":36,"statu":16,"step":8,"stream":[13,15,16,26,40],"structur":[12,28],"support":[1,39],"switch":20,"sync":[13,25,27],"synchron":[13,15],"system":[12,30],"term":2,"test":31,"tf":[12,13],"thi":28,"time":13,"too":26,"tool":[12,36],"topic":[8,16,18,26,39],"transform":12,"transpar":39,"tree":12,"trigger":15,"troubleshoot":40,"unexpect":40,"updat":39,"upgrad":7,"us":[12,22,31,34],"usag":[25,31,34],"util":23,"v":12,"v2":[0,2,39],"view":[12,18],"visual":[8,12,14],"wfov":19,"when":40,"why":40,"work":20,"workspac":8,"wrapper":[0,4],"yaml":34,"your":8}}) \ No newline at end of file diff --git a/en/source/1_overview/introduction.html b/en/source/1_overview/introduction.html index ba4c69c3..ebc8c6a7 100644 --- a/en/source/1_overview/introduction.html +++ b/en/source/1_overview/introduction.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -684,7 +685,7 @@ thead th {

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/1_overview/orbbecsdk_overview.html b/en/source/1_overview/orbbecsdk_overview.html index 319e50c6..36b074b5 100644 --- a/en/source/1_overview/orbbecsdk_overview.html +++ b/en/source/1_overview/orbbecsdk_overview.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -554,7 +555,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/1_overview/overview.html b/en/source/1_overview/overview.html index 5cd3b4a2..14a67805 100644 --- a/en/source/1_overview/overview.html +++ b/en/source/1_overview/overview.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -392,7 +393,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/2_installation/build_the_package.html b/en/source/2_installation/build_the_package.html index 6886d09a..dc036754 100644 --- a/en/source/2_installation/build_the_package.html +++ b/en/source/2_installation/build_the_package.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -419,7 +420,7 @@ colcon build --event-handlers

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/2_installation/installation.html b/en/source/2_installation/installation.html index 427490e7..897fa04f 100644 --- a/en/source/2_installation/installation.html +++ b/en/source/2_installation/installation.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -385,7 +386,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/2_installation/registration_script.html b/en/source/2_installation/registration_script.html index 4c0b7309..af598f44 100644 --- a/en/source/2_installation/registration_script.html +++ b/en/source/2_installation/registration_script.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -383,7 +384,7 @@ sudo udevadm control

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/3_quickstarts/orbbecviewer.html b/en/source/3_quickstarts/orbbecviewer.html index 72b13242..5f8d78f7 100644 --- a/en/source/3_quickstarts/orbbecviewer.html +++ b/en/source/3_quickstarts/orbbecviewer.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -456,7 +457,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/3_quickstarts/quickstart.html b/en/source/3_quickstarts/quickstart.html index 76538859..44d6f830 100644 --- a/en/source/3_quickstarts/quickstart.html +++ b/en/source/3_quickstarts/quickstart.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -461,7 +462,7 @@ ros2 param list

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/3_quickstarts/quickstarts.html b/en/source/3_quickstarts/quickstarts.html index 9f568b8b..4553961a 100644 --- a/en/source/3_quickstarts/quickstarts.html +++ b/en/source/3_quickstarts/quickstarts.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -392,7 +393,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/4_application_guide/application_guide.html b/en/source/4_application_guide/application_guide.html index 2d009cf5..10799f2b 100644 --- a/en/source/4_application_guide/application_guide.html +++ b/en/source/4_application_guide/application_guide.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -417,7 +418,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/4_application_guide/compressed_image.html b/en/source/4_application_guide/compressed_image.html index a8785fbc..8acc1459 100644 --- a/en/source/4_application_guide/compressed_image.html +++ b/en/source/4_application_guide/compressed_image.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -381,7 +382,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/4_application_guide/coordinate_and_tf.html b/en/source/4_application_guide/coordinate_and_tf.html index c62404c0..4427a048 100644 --- a/en/source/4_application_guide/coordinate_and_tf.html +++ b/en/source/4_application_guide/coordinate_and_tf.html @@ -159,7 +159,7 @@
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
    • @@ -330,6 +330,7 @@
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
    • +
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • @@ -447,7 +448,7 @@

    4.4.4. Camera TF Calculation and Publishing Mechanism

    -

    4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()

    +

    4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()

    The camera node uses this function to calculate and publish all static transforms between sensors.

    void OBCameraNode::calcAndPublishStaticTransform() {
   tf2::Quaternion quaternion_optical, zero_rot;
@@ -699,7 +700,7 @@
 
   
    
     
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diff --git a/en/source/4_application_guide/launch_parameters.html b/en/source/4_application_guide/launch_parameters.html
index 3d3cb5a2..fe41f27f 100644
--- a/en/source/4_application_guide/launch_parameters.html
+++ b/en/source/4_application_guide/launch_parameters.html
@@ -159,7 +159,7 @@
 
 
 
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
 
    • 
@@ -330,6 +330,7 @@
 
  • 8.2. No Data Stream from Multiple Cameras
    • 
 
  • 8.3. Additional Troubleshooting
    • 
 
  • 8.4. Why Are There So Many Launch Files?
    • 
+
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • 
 
 
 
@@ -999,7 +1000,7 @@
 
   
    
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
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diff --git a/en/source/4_application_guide/point_cloud.html b/en/source/4_application_guide/point_cloud.html
index 55dcfe2e..f738460d 100644
--- a/en/source/4_application_guide/point_cloud.html
+++ b/en/source/4_application_guide/point_cloud.html
@@ -159,7 +159,7 @@
 
 
 
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
 
    • 
@@ -330,6 +330,7 @@
 
  • 8.2. No Data Stream from Multiple Cameras
    • 
 
  • 8.3. Additional Troubleshooting
    • 
 
  • 8.4. Why Are There So Many Launch Files?
    • 
+
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • 
 
 
 
@@ -426,7 +427,7 @@
 
   
    
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
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diff --git a/en/source/4_application_guide/services.html b/en/source/4_application_guide/services.html
index 05ef12d8..bec5b025 100644
--- a/en/source/4_application_guide/services.html
+++ b/en/source/4_application_guide/services.html
@@ -159,7 +159,7 @@
 
 
 
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
 
    • 
@@ -330,6 +330,7 @@
 
  • 8.2. No Data Stream from Multiple Cameras
    • 
 
  • 8.3. Additional Troubleshooting
    • 
 
  • 8.4. Why Are There So Many Launch Files?
    • 
+
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • 
 
 
 
@@ -642,7 +643,7 @@ ros2 service call
 
   
    
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
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diff --git a/en/source/4_application_guide/topics.html b/en/source/4_application_guide/topics.html
index 8ff2424d..bd51cc81 100644
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+++ b/en/source/4_application_guide/topics.html
@@ -159,7 +159,7 @@
 
 
 
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
 
    • 
@@ -330,6 +330,7 @@
 
  • 8.2. No Data Stream from Multiple Cameras
    • 
 
  • 8.3. Additional Troubleshooting
    • 
 
  • 8.4. Why Are There So Many Launch Files?
    • 
+
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • 
 
 
 
@@ -491,7 +492,7 @@
 
   
    
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
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diff --git a/en/source/5_advanced_guide/advanced_guide.html b/en/source/5_advanced_guide/advanced_guide.html
index 397780f6..8200ccdb 100644
--- a/en/source/5_advanced_guide/advanced_guide.html
+++ b/en/source/5_advanced_guide/advanced_guide.html
@@ -159,7 +159,7 @@
 
 
 
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
 
    • 
@@ -330,6 +330,7 @@
 
  • 8.2. No Data Stream from Multiple Cameras
    • 
 
  • 8.3. Additional Troubleshooting
    • 
 
  • 8.4. Why Are There So Many Launch Files?
    • 
+
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • 
 
 
 
@@ -468,7 +469,7 @@
 
   
    
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
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diff --git a/en/source/5_advanced_guide/configuration/align_depth_color.html b/en/source/5_advanced_guide/configuration/align_depth_color.html
index 05f84666..5c529be1 100644
--- a/en/source/5_advanced_guide/configuration/align_depth_color.html
+++ b/en/source/5_advanced_guide/configuration/align_depth_color.html
@@ -159,7 +159,7 @@
 
 
 
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
 
    • 
@@ -330,6 +330,7 @@
 
  • 8.2. No Data Stream from Multiple Cameras
    • 
 
  • 8.3. Additional Troubleshooting
    • 
 
  • 8.4. Why Are There So Many Launch Files?
    • 
+
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • 
 
 
 
@@ -410,7 +411,7 @@
 
   
    
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
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diff --git a/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html b/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
index a9e93668..f6903696 100644
--- a/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
+++ b/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
@@ -159,7 +159,7 @@
 
 
 
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
 
    • 
@@ -330,6 +330,7 @@
 
  • 8.2. No Data Stream from Multiple Cameras
    • 
 
  • 8.3. Additional Troubleshooting
    • 
 
  • 8.4. Why Are There So Many Launch Files?
    • 
+
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • 
 
 
 
@@ -387,7 +388,7 @@ resolutions is as follows:
    
 
   
    
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
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diff --git a/en/source/5_advanced_guide/configuration/depth_work_mode_switch.html b/en/source/5_advanced_guide/configuration/depth_work_mode_switch.html
index 32c8aea7..643ac66c 100644
--- a/en/source/5_advanced_guide/configuration/depth_work_mode_switch.html
+++ b/en/source/5_advanced_guide/configuration/depth_work_mode_switch.html
@@ -159,7 +159,7 @@
 
 
 
  • 4.4.4. Camera TF Calculation and Publishing Mechanism
 
    • 
@@ -330,6 +330,7 @@
 
  • 8.2. No Data Stream from Multiple Cameras
    • 
 
  • 8.3. Additional Troubleshooting
    • 
 
  • 8.4. Why Are There So Many Launch Files?
    • 
+
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected
    • 
 
 
 
@@ -405,7 +406,7 @@ modify it, you can switch to the corresponding mode as needed.
    
 
   
    
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
-      Last updated on 2025-10-30 05:44:30.
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diff --git a/en/source/5_advanced_guide/configuration/disparity_search_offset.html b/en/source/5_advanced_guide/configuration/disparity_search_offset.html
index bc69aa8d..c82bd475 100644
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@@ -521,7 +522,7 @@ python3 SyncFramesMain.py
 
   
    
     
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@@ -428,7 +429,7 @@ ros2 run orbbec_camera
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
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    diff --git a/en/source/7_developer_guide/building_a_Debian_Package.html b/en/source/7_developer_guide/building_a_Debian_Package.html index a9f1678d..88343b6e 100644 --- a/en/source/7_developer_guide/building_a_Debian_Package.html +++ b/en/source/7_developer_guide/building_a_Debian_Package.html @@ -159,7 +159,7 @@
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    • @@ -412,7 +413,7 @@ bash .make_deb.sh

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/7_developer_guide/developer_guide.html b/en/source/7_developer_guide/developer_guide.html index 7e2d5329..dcc1f41e 100644 --- a/en/source/7_developer_guide/developer_guide.html +++ b/en/source/7_developer_guide/developer_guide.html @@ -159,7 +159,7 @@
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    • @@ -391,7 +392,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

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    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/8_FAQ/FAQ.html b/en/source/8_FAQ/FAQ.html index ab76f41d..d0bff974 100644 --- a/en/source/8_FAQ/FAQ.html +++ b/en/source/8_FAQ/FAQ.html @@ -158,7 +158,7 @@
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    • @@ -399,6 +400,18 @@

  • To simplify usage, each camera has its own launch file.

    • +
    +

    8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected

    +

    While the launch file did not explicitly specify which device to use. In that case, the driver will connect to the default device.

    +

    You can check the serial number of your device by running:

    +
    ros2 run orbbec_camera list_devices_node
+
    +
    +

    Then launch with the serial number explicitly set, for example:

    +
    ros2 launch orbbec_camera femto_bolt.launch.py serial_number:=CL8H741005J
+
    +
    +
    @@ -412,7 +425,7 @@

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/en/source/license.html b/en/source/license.html index ebcbe282..d6cd1543 100644 --- a/en/source/license.html +++ b/en/source/license.html @@ -157,7 +157,7 @@
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    • @@ -377,7 +378,7 @@ language governing permissions and limitations under the License.

    © Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2025-10-30 05:44:30. + Last updated on 2025-10-31 02:59:36.

    diff --git a/zh/.doctrees/environment.pickle b/zh/.doctrees/environment.pickle index 27bd40c7..6cd6c44b 100644 Binary files a/zh/.doctrees/environment.pickle and b/zh/.doctrees/environment.pickle differ diff --git a/zh/.doctrees/source/4_application_guide/coordinate_and_tf.doctree b/zh/.doctrees/source/4_application_guide/coordinate_and_tf.doctree index 2942b4d2..dcee9543 100644 Binary files a/zh/.doctrees/source/4_application_guide/coordinate_and_tf.doctree and b/zh/.doctrees/source/4_application_guide/coordinate_and_tf.doctree differ diff --git a/zh/.doctrees/source/8_FAQ/FAQ.doctree b/zh/.doctrees/source/8_FAQ/FAQ.doctree index b515fd91..38147acd 100644 Binary files a/zh/.doctrees/source/8_FAQ/FAQ.doctree and b/zh/.doctrees/source/8_FAQ/FAQ.doctree differ diff --git a/zh/_sources/source/4_application_guide/coordinate_and_tf.md.txt b/zh/_sources/source/4_application_guide/coordinate_and_tf.md.txt index d5feb14e..5a4cd2a2 100644 --- a/zh/_sources/source/4_application_guide/coordinate_and_tf.md.txt +++ b/zh/_sources/source/4_application_guide/coordinate_and_tf.md.txt @@ -95,7 +95,7 @@ rviz2 ### 相机TF计算和发布机制 -#### 核心函数：`OBCameraNode::calcAndPublishStaticTransform()` +#### 核心函数：[OBCameraNode::calcAndPublishStaticTransform()](https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475) 相机节点通过此函数计算和发布所有传感器之间的静态转换关系。 diff --git a/zh/_sources/source/8_FAQ/FAQ.md.txt b/zh/_sources/source/8_FAQ/FAQ.md.txt index b0c984cc..34b0968a 100644 --- a/zh/_sources/source/8_FAQ/FAQ.md.txt +++ b/zh/_sources/source/8_FAQ/FAQ.md.txt @@ -34,3 +34,17 @@ - 不同的相机具有不同的默认分辨率和图像格式。 - 为简化使用，每个相机都有自己的启动文件。 + +### 多相机连接时如何指定启动某一个相机 + +如果启动文件未显式指定要使用的设备，在同时连接多台相机时，驱动会默认连接到其中一个（默认设备）。 + +可以先通过以下命令查看设备序列号： +```bash +ros2 run orbbec_camera list_devices_node +``` + +然后在启动时显式指定序列号，例如： +```bash +ros2 launch orbbec_camera femto_bolt.launch.py serial_number:=CL8H741005J +``` diff --git a/zh/genindex.html b/zh/genindex.html index 459161d3..02a0fb17 100644 --- a/zh/genindex.html +++ b/zh/genindex.html @@ -157,7 +157,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -328,6 +328,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -371,7 +372,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

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    • @@ -330,6 +330,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -512,6 +513,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -529,7 +531,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/objects.inv b/zh/objects.inv index 2aae2a50..0bdad842 100644 Binary files a/zh/objects.inv and b/zh/objects.inv differ diff --git a/zh/search.html b/zh/search.html index 61924d98..f1665139 100644 --- a/zh/search.html +++ b/zh/search.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -379,7 +380,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

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GMSL \u76f8\u673a","5.2.1. \u591a\u76f8\u673a","5.2.2. \u591a\u76f8\u673a\u540c\u6b65\u8bf4\u660e","5.2.3. \u591a\u76f8\u673a\u540c\u6b65\u9a8c\u8bc1\u5de5\u5177","5.1.2. \u9ad8\u6548\u7684\u8fdb\u7a0b\u5185\u901a\u4fe1\uff1a","5.1.3. \u9488\u5bf9Orbbec\u76f8\u673a\u4e0eROS2\u7684Fast DDS\u4f18\u5316","5.1.1. \u4f7f\u7528Orbbec ROS\u5305\u964d\u4f4eCPU\u4f7f\u7528\u7387","6. \u6027\u80fd\u57fa\u51c6\u6d4b\u8bd5","6.3. \u6027\u80fd\u57fa\u51c6\u6d4b\u8bd5\u6570\u636e","6.2. \u6027\u80fd\u57fa\u51c6\u6d4b\u8bd5\u4f7f\u7528","6.1. \u4ecb\u7ecd","6.4. \u5176\u4ed6\u5de5\u5177","7.2. \u6784\u5efa Debian \u8f6f\u4ef6\u5305","7. \u5f00\u53d1\u8005\u6307\u5357","7.1. \u4ece main \u5206\u652f\u8fc1\u79fb\u5230\u5f00\u6e90 v2-main \u5206\u652f","8. \u5e38\u89c1\u95ee\u9898","License"],"titleterms":{"335le":23,"435le":23,"ae":13,"calcandpublishstatictransform":12,"cpu":31,"dds":30,"debian":37,"fast":30,"femto":23,"gemini":23,"gemini330":22,"gmsl":25,"imu":[13,16],"interleave_a":22,"ip":23,"json":36,"ldp":13,"licens":41,"linux":4,"main":39,"mega":23,"multi_camera_sync":22,"nfov":19,"ob_benchmark":36,"obcameranod":12,"orbbec":[1,2,30,31],"orbbecsdk":0,"orbbecsdk_ros2":27,"orbbecview":7,"python":34,"ros":[8,14,18,31,37],"ros2":[0,4,12,30,34],"rosbag2":8,"rviz2":[8,12,14,18],"sdk":2,"set_device_ip":23,"start_benchmark_param":36,"tf":[12,13],"v2":[0,2,39],"vs":12,"wfov":19,"yaml":34}}) \ No newline at end of file diff --git a/zh/source/1_overview/introduction.html b/zh/source/1_overview/introduction.html index 47941d08..5bff8a74 100644 --- a/zh/source/1_overview/introduction.html +++ b/zh/source/1_overview/introduction.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -684,7 +685,7 @@ thead th {

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/1_overview/orbbecsdk_overview.html b/zh/source/1_overview/orbbecsdk_overview.html index 0213c8ed..a25dcca8 100644 --- a/zh/source/1_overview/orbbecsdk_overview.html +++ b/zh/source/1_overview/orbbecsdk_overview.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -555,7 +556,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/1_overview/overview.html b/zh/source/1_overview/overview.html index 9e3d545a..96a1285b 100644 --- a/zh/source/1_overview/overview.html +++ b/zh/source/1_overview/overview.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -393,7 +394,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/2_installation/build_the_package.html b/zh/source/2_installation/build_the_package.html index 3864c776..040d8007 100644 --- a/zh/source/2_installation/build_the_package.html +++ b/zh/source/2_installation/build_the_package.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -420,7 +421,7 @@ colcon build --event-handlers

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/2_installation/installation.html b/zh/source/2_installation/installation.html index 32a1a01f..1dc2d5e1 100644 --- a/zh/source/2_installation/installation.html +++ b/zh/source/2_installation/installation.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -386,7 +387,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/2_installation/registration_script.html b/zh/source/2_installation/registration_script.html index cc66cf0a..b3bbbfd5 100644 --- a/zh/source/2_installation/registration_script.html +++ b/zh/source/2_installation/registration_script.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -384,7 +385,7 @@ sudo udevadm control

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/3_quickstarts/orbbecviewer.html b/zh/source/3_quickstarts/orbbecviewer.html index 6fb3c4cf..9ec50db8 100644 --- a/zh/source/3_quickstarts/orbbecviewer.html +++ b/zh/source/3_quickstarts/orbbecviewer.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -457,7 +458,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/3_quickstarts/quickstart.html b/zh/source/3_quickstarts/quickstart.html index 30dbd5d7..b0976dae 100644 --- a/zh/source/3_quickstarts/quickstart.html +++ b/zh/source/3_quickstarts/quickstart.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -462,7 +463,7 @@ ros2 param list

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/3_quickstarts/quickstarts.html b/zh/source/3_quickstarts/quickstarts.html index 735c274a..79b1b995 100644 --- a/zh/source/3_quickstarts/quickstarts.html +++ b/zh/source/3_quickstarts/quickstarts.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -393,7 +394,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/4_application_guide/application_guide.html b/zh/source/4_application_guide/application_guide.html index fdfbb430..8edcd1ee 100644 --- a/zh/source/4_application_guide/application_guide.html +++ b/zh/source/4_application_guide/application_guide.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -418,7 +419,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/4_application_guide/compressed_image.html b/zh/source/4_application_guide/compressed_image.html index f92e340f..c7c78160 100644 --- a/zh/source/4_application_guide/compressed_image.html +++ b/zh/source/4_application_guide/compressed_image.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -382,7 +383,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/4_application_guide/coordinate_and_tf.html b/zh/source/4_application_guide/coordinate_and_tf.html index 236f5b4e..421cd605 100644 --- a/zh/source/4_application_guide/coordinate_and_tf.html +++ b/zh/source/4_application_guide/coordinate_and_tf.html @@ -160,7 +160,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -331,6 +331,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -448,7 +449,7 @@

    4.4.4. 相机TF计算和发布机制

    -

    4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()

    +

    4.4.4.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()

    相机节点通过此函数计算和发布所有传感器之间的静态转换关系。

    void OBCameraNode::calcAndPublishStaticTransform() {
   tf2::Quaternion quaternion_optical, zero_rot;
@@ -714,7 +715,7 @@
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/4_application_guide/launch_parameters.html b/zh/source/4_application_guide/launch_parameters.html
index db8a7625..17cc8766 100644
--- a/zh/source/4_application_guide/launch_parameters.html
+++ b/zh/source/4_application_guide/launch_parameters.html
@@ -160,7 +160,7 @@
 
 
 
  • 4.4.4. 相机TF计算和发布机制
 
    • 
@@ -331,6 +331,7 @@
 
  • 8.2. 多相机无数据流
    • 
 
  • 8.3. 其他故障排除
    • 
 
  • 8.4. 为什么有这么多启动文件？
    • 
+
  • 8.5. 多相机连接时如何指定启动某一个相机
    • 
 
 
 
@@ -1000,7 +1001,7 @@
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/4_application_guide/point_cloud.html b/zh/source/4_application_guide/point_cloud.html
index 2eb14752..ea1d3b33 100644
--- a/zh/source/4_application_guide/point_cloud.html
+++ b/zh/source/4_application_guide/point_cloud.html
@@ -160,7 +160,7 @@
 
 
 
  • 4.4.4. 相机TF计算和发布机制
 
    • 
@@ -331,6 +331,7 @@
 
  • 8.2. 多相机无数据流
    • 
 
  • 8.3. 其他故障排除
    • 
 
  • 8.4. 为什么有这么多启动文件？
    • 
+
  • 8.5. 多相机连接时如何指定启动某一个相机
    • 
 
 
 
@@ -427,7 +428,7 @@
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/4_application_guide/services.html b/zh/source/4_application_guide/services.html
index c95a6a53..0f3b9df5 100644
--- a/zh/source/4_application_guide/services.html
+++ b/zh/source/4_application_guide/services.html
@@ -160,7 +160,7 @@
 
 
 
  • 4.4.4. 相机TF计算和发布机制
 
    • 
@@ -331,6 +331,7 @@
 
  • 8.2. 多相机无数据流
    • 
 
  • 8.3. 其他故障排除
    • 
 
  • 8.4. 为什么有这么多启动文件？
    • 
+
  • 8.5. 多相机连接时如何指定启动某一个相机
    • 
 
 
 
@@ -645,7 +646,7 @@ ros2 service call
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/4_application_guide/topics.html b/zh/source/4_application_guide/topics.html
index 6380e092..ca9fd4ed 100644
--- a/zh/source/4_application_guide/topics.html
+++ b/zh/source/4_application_guide/topics.html
@@ -160,7 +160,7 @@
 
 
 
  • 4.4.4. 相机TF计算和发布机制
 
    • 
@@ -331,6 +331,7 @@
 
  • 8.2. 多相机无数据流
    • 
 
  • 8.3. 其他故障排除
    • 
 
  • 8.4. 为什么有这么多启动文件？
    • 
+
  • 8.5. 多相机连接时如何指定启动某一个相机
    • 
 
 
 
@@ -492,7 +493,7 @@
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/advanced_guide.html b/zh/source/5_advanced_guide/advanced_guide.html
index 52ab847d..7a00a9ce 100644
--- a/zh/source/5_advanced_guide/advanced_guide.html
+++ b/zh/source/5_advanced_guide/advanced_guide.html
@@ -160,7 +160,7 @@
 
 
 
  • 4.4.4. 相机TF计算和发布机制
 
    • 
@@ -331,6 +331,7 @@
 
  • 8.2. 多相机无数据流
    • 
 
  • 8.3. 其他故障排除
    • 
 
  • 8.4. 为什么有这么多启动文件？
    • 
+
  • 8.5. 多相机连接时如何指定启动某一个相机
    • 
 
 
 
@@ -469,7 +470,7 @@
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/configuration/align_depth_color.html b/zh/source/5_advanced_guide/configuration/align_depth_color.html
index 2026a3c8..6d828a67 100644
--- a/zh/source/5_advanced_guide/configuration/align_depth_color.html
+++ b/zh/source/5_advanced_guide/configuration/align_depth_color.html
@@ -160,7 +160,7 @@
 
 
 
  • 4.4.4. 相机TF计算和发布机制
 
    • 
@@ -331,6 +331,7 @@
 
  • 8.2. 多相机无数据流
    • 
 
  • 8.3. 其他故障排除
    • 
 
  • 8.4. 为什么有这么多启动文件？
    • 
+
  • 8.5. 多相机连接时如何指定启动某一个相机
    • 
 
 
 
@@ -411,7 +412,7 @@
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html b/zh/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
index 00407075..d7f97f0e 100644
--- a/zh/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
+++ b/zh/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
@@ -160,7 +160,7 @@
 
 
 
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+
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@@ -385,7 +386,7 @@
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/configuration/depth_work_mode_switch.html b/zh/source/5_advanced_guide/configuration/depth_work_mode_switch.html
index 78a12f41..deebfc7b 100644
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+++ b/zh/source/5_advanced_guide/configuration/depth_work_mode_switch.html
@@ -160,7 +160,7 @@
 
 
 
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@@ -403,7 +404,7 @@
 
   
    
     
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/configuration/disparity_search_offset.html b/zh/source/5_advanced_guide/configuration/disparity_search_offset.html
index 8b87b121..9e4a9987 100644
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+++ b/zh/source/5_advanced_guide/configuration/disparity_search_offset.html
@@ -160,7 +160,7 @@
 
 
 
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+
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@@ -467,7 +468,7 @@
 
   
    
     
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/configuration/interleave_ae_mode.html b/zh/source/5_advanced_guide/configuration/interleave_ae_mode.html
index 2b294080..bf1c6f3e 100644
--- a/zh/source/5_advanced_guide/configuration/interleave_ae_mode.html
+++ b/zh/source/5_advanced_guide/configuration/interleave_ae_mode.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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+
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@@ -431,7 +432,7 @@
 
   
    
     
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/configuration/net_camera.html b/zh/source/5_advanced_guide/configuration/net_camera.html
index 78de67e8..3615699f 100644
--- a/zh/source/5_advanced_guide/configuration/net_camera.html
+++ b/zh/source/5_advanced_guide/configuration/net_camera.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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+
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@@ -467,7 +468,7 @@ net_device_port:=8090
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/configuration/predefined_presets.html b/zh/source/5_advanced_guide/configuration/predefined_presets.html
index bda12bc9..5b35c46c 100644
--- a/zh/source/5_advanced_guide/configuration/predefined_presets.html
+++ b/zh/source/5_advanced_guide/configuration/predefined_presets.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/multi_camera/gmsl_camera.html b/zh/source/5_advanced_guide/multi_camera/gmsl_camera.html
index 657bd20f..b4e642c3 100644
--- a/zh/source/5_advanced_guide/multi_camera/gmsl_camera.html
+++ b/zh/source/5_advanced_guide/multi_camera/gmsl_camera.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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+
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/multi_camera/multi_camera.html b/zh/source/5_advanced_guide/multi_camera/multi_camera.html
index 0feff73f..e84174f4 100644
--- a/zh/source/5_advanced_guide/multi_camera/multi_camera.html
+++ b/zh/source/5_advanced_guide/multi_camera/multi_camera.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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    • 
 
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+
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@@ -466,7 +467,7 @@
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/multi_camera/multi_camera_synced.html b/zh/source/5_advanced_guide/multi_camera/multi_camera_synced.html
index ac93c5ec..46d4570b 100644
--- a/zh/source/5_advanced_guide/multi_camera/multi_camera_synced.html
+++ b/zh/source/5_advanced_guide/multi_camera/multi_camera_synced.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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+
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    • 
 
 
 
@@ -454,7 +455,7 @@
 
   
    
     
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html b/zh/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
index 4a8a133c..6fa994de 100644
--- a/zh/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
+++ b/zh/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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    • 
+
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@@ -522,7 +523,7 @@ python3 SyncFramesMain.py
 
   
    
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
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index 97111dbd..0517ecd5 100644
--- a/zh/source/5_advanced_guide/performance/efficient_intra_process_communication.html
+++ b/zh/source/5_advanced_guide/performance/efficient_intra_process_communication.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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    • 
 
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+
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@@ -408,7 +409,7 @@
 
   
    
     
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-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/performance/fastdds_tuning.html b/zh/source/5_advanced_guide/performance/fastdds_tuning.html
index cd680d81..76f7a7cf 100644
--- a/zh/source/5_advanced_guide/performance/fastdds_tuning.html
+++ b/zh/source/5_advanced_guide/performance/fastdds_tuning.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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    • 
+
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@@ -505,7 +506,7 @@ net.core.wmem_default=2147483647
 
   
    
     
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-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/5_advanced_guide/performance/lower_cpu_usage.html b/zh/source/5_advanced_guide/performance/lower_cpu_usage.html
index cd9cdf52..857073ee 100644
--- a/zh/source/5_advanced_guide/performance/lower_cpu_usage.html
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@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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    • 
 
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+
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@@ -566,7 +567,7 @@
 
   
    
     
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/6_benchmark/benchmark.html b/zh/source/6_benchmark/benchmark.html
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@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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@@ -399,7 +400,7 @@
 
   
    
     
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diff --git a/zh/source/6_benchmark/benchmark_data.html b/zh/source/6_benchmark/benchmark_data.html
index e001e493..c624be34 100644
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    • 
 
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@@ -392,7 +393,7 @@
 
   
    
     
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/6_benchmark/benchmark_usage.html b/zh/source/6_benchmark/benchmark_usage.html
index 01909b5f..9e5d586f 100644
--- a/zh/source/6_benchmark/benchmark_usage.html
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@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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@@ -495,7 +496,7 @@
 
   
    
     
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/6_benchmark/introduction.html b/zh/source/6_benchmark/introduction.html
index 377b8d41..d5dfc176 100644
--- a/zh/source/6_benchmark/introduction.html
+++ b/zh/source/6_benchmark/introduction.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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    • 
 
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+
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@@ -406,7 +407,7 @@
 
   
    
     
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+      最后更新于 2025年10月31日 02:59:39.
       
    
   
    
 
diff --git a/zh/source/6_benchmark/othertools.html b/zh/source/6_benchmark/othertools.html
index fcbf203c..3cfd3121 100644
--- a/zh/source/6_benchmark/othertools.html
+++ b/zh/source/6_benchmark/othertools.html
@@ -160,7 +160,7 @@
 
 
 
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    • 
 
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    • 
+
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@@ -429,7 +430,7 @@ ros2 run orbbec_camera
     
    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      最后更新于 2025年10月30日 05:44:33.
+      最后更新于 2025年10月31日 02:59:39.
    diff --git a/zh/source/7_developer_guide/building_a_Debian_Package.html b/zh/source/7_developer_guide/building_a_Debian_Package.html index e583c80c..55d745ce 100644 --- a/zh/source/7_developer_guide/building_a_Debian_Package.html +++ b/zh/source/7_developer_guide/building_a_Debian_Package.html @@ -160,7 +160,7 @@
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    • @@ -331,6 +331,7 @@
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    • +
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    • @@ -411,7 +412,7 @@ bash .make_deb.sh

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/7_developer_guide/developer_guide.html b/zh/source/7_developer_guide/developer_guide.html index 061f7e9d..68651b1c 100644 --- a/zh/source/7_developer_guide/developer_guide.html +++ b/zh/source/7_developer_guide/developer_guide.html @@ -160,7 +160,7 @@
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    • @@ -331,6 +331,7 @@
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    • +
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    • @@ -392,7 +393,7 @@

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    diff --git a/zh/source/7_developer_guide/migration_guide.html b/zh/source/7_developer_guide/migration_guide.html index 19d9fb6d..d0702a03 100644 --- a/zh/source/7_developer_guide/migration_guide.html +++ b/zh/source/7_developer_guide/migration_guide.html @@ -160,7 +160,7 @@
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    • @@ -331,6 +331,7 @@
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    • @@ -1208,7 +1209,7 @@

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    diff --git a/zh/source/8_FAQ/FAQ.html b/zh/source/8_FAQ/FAQ.html index a9135e0f..1c38e4fa 100644 --- a/zh/source/8_FAQ/FAQ.html +++ b/zh/source/8_FAQ/FAQ.html @@ -159,7 +159,7 @@
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    • @@ -330,6 +330,7 @@
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  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -400,6 +401,18 @@

  • 为简化使用，每个相机都有自己的启动文件。

    • +
    +

    8.5. 多相机连接时如何指定启动某一个相机

    +

    如果启动文件未显式指定要使用的设备，在同时连接多台相机时，驱动会默认连接到其中一个（默认设备）。

    +

    可以先通过以下命令查看设备序列号：

    +
    ros2 run orbbec_camera list_devices_node
+
    +
    +

    然后在启动时显式指定序列号，例如：

    +
    ros2 launch orbbec_camera femto_bolt.launch.py serial_number:=CL8H741005J
+
    +
    +
    @@ -413,7 +426,7 @@

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.

    diff --git a/zh/source/license.html b/zh/source/license.html index 5927192a..4c29e98a 100644 --- a/zh/source/license.html +++ b/zh/source/license.html @@ -158,7 +158,7 @@
  • 4.4.4. 相机TF计算和发布机制
    • @@ -329,6 +329,7 @@
  • 8.2. 多相机无数据流
  • 8.3. 其他故障排除
  • 8.4. 为什么有这么多启动文件？
    • +
  • 8.5. 多相机连接时如何指定启动某一个相机
    • @@ -378,7 +379,7 @@ language governing permissions and limitations under the License.

    © 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2025年10月30日 05:44:33. + 最后更新于 2025年10月31日 02:59:39.