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README.MD
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@@ -53,6 +53,27 @@ The **OrbbecSDK ROS2 Wrapper** provides seamless integration of Orbbec cameras w
- For legacy **OpenNI** devices: use the **main** branch - For legacy **OpenNI** devices: use the **main** branch
- For users in China: use the [Gitee repository](https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2) - For users in China: use the [Gitee repository](https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2)
## Start Here
Detailed usage, parameters, and troubleshooting are maintained on the official
[OrbbecSDK ROS2 documentation site](https://orbbec.github.io/OrbbecSDK_ROS2/en/index.html).
Use the links below to go directly to the guide for your task.
| I want to... | Go to... |
| --- | --- |
| Install the wrapper and configure device permissions | [Installation](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/2_installation/installation.html) |
| Launch a camera and view images in RViz2 | [ROS Package QuickStarts](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/3_quickstarts/quickstart.html) |
| Check device support, firmware, and the correct launch file | [Supported hardware](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/1_overview/introduction.html) |
| Configure launch parameters, topics, services, TF, or point clouds | [Application Guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/4_application_guide/application_guide.html) |
| Find maintenance, diagnostic, benchmark, or multi-camera tools | [Tool Index](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/6_benchmark/tools.html) |
| Use network cameras, GMSL, multi-camera, or advanced modes | [Advanced Guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/advanced_guide.html) |
| Diagnose a failure or collect logs for support | [Frequently Asked Questions](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/8_FAQ/FAQ.html) |
| Migrate an existing project from main (v1.x) | [Migration Guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/7_developer_guide/migration_guide.html) |
| Use an Orbbec LiDAR | [LiDAR documentation](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/lidar_devices/index.html) |
Source files for practical launch examples are listed in the
[Examples index](./orbbec_camera/examples/).
## branch selection ## branch selection
Here is the device support list of main branch (v1.x) and v2-main branch (v2.x): Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
@@ -490,17 +511,10 @@ For optimal performance, we strongly recommend updating to the latest firmware v
All launch files are essentially similar, with the primary difference being the default values of the parameters set 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. 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.
## Tutorial ## Related Links
please refer to the official [OrbbecSDK ROS2 documentation](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/advanced_guide.html)
## Examples
To explore practical examples and gain insight into how to use the camera in ROS, please navigate to the [Examples](./orbbec_camera/examples/) section for more information.
## Other useful links
- [OrbbecSDK ROS2 documentation](https://orbbec.github.io/OrbbecSDK_ROS2/en/index.html) - [OrbbecSDK ROS2 documentation](https://orbbec.github.io/OrbbecSDK_ROS2/en/index.html)
- [Examples index](./orbbec_camera/examples/)
- [OrbbecSDK_v2](https://github.com/orbbec/OrbbecSDK_v2/releases) - [OrbbecSDK_v2](https://github.com/orbbec/OrbbecSDK_v2/releases)
- [Gemini 330 depth presets](https://www.orbbec.com/docs/g330-use-depth-presets/) - [Gemini 330 depth presets](https://www.orbbec.com/docs/g330-use-depth-presets/)
README_CN.MD
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@@ -5,46 +5,6 @@
</a> </a>
<h1><a href="https://github.com/orbbec/OrbbecSDK_ROS2">OrbbecSDK ROS2 Wrapper v2</a></h1> <h1><a href="https://github.com/orbbec/OrbbecSDK_ROS2">OrbbecSDK ROS2 Wrapper v2</a></h1>
<!-- Language: -->
<p align="center">
<a href="./README.MD">English</a> | <a href="./README_CN.MD">中文</a>
</p>
<!-- Labels: -->
<!-- First row: -->
<a href="https://docs.ros.org/en/foxy/">
<img src="https://img.shields.io/badge/ROS-Foxy-f5792a?style=flat-square&amp;logo=ros&amp;logoColor=white" height="20" alt="ROS Foxy">
</a>
<a href="https://docs.ros.org/en/humble/">
<img src="https://img.shields.io/badge/ROS-Humble-f5792a?style=flat-square&amp;logo=ros&amp;logoColor=white" height="20" alt="ROS Humble">
</a>
<a href="https://docs.ros.org/en/jazzy/">
<img src="https://img.shields.io/badge/ROS-Jazzy-f5792a?style=flat-square&amp;logo=ros&amp;logoColor=white" height="20" alt="ROS Jazzy">
</a>
<a href="https://docs.ros.org/en/lyrical/">
<img src="https://img.shields.io/badge/ROS-Lyrical-f5792a?style=flat-square&amp;logo=ros&amp;logoColor=white" height="20" alt="ROS Lyrical">
</a>
<a href="https://docs.ros.org/en/rolling/">
<img src="https://img.shields.io/badge/ROS-Rolling%20(experimental)-e5c07b?style=flat-square&amp;logo=ros&amp;logoColor=white" height="20" alt="ROS Rolling (experimental)">
</a>
<img src="https://img.shields.io/badge/Ubuntu-20.04-0078d4?style=flat-square&amp;logo=ubuntu&amp;logoColor=white" height="20" alt="Ubuntu 20.04">
<img src="https://img.shields.io/badge/Ubuntu-22.04-0078d4?style=flat-square&amp;logo=ubuntu&amp;logoColor=white" height="20" alt="Ubuntu 22.04">
<img src="https://img.shields.io/badge/Ubuntu-24.04-0078d4?style=flat-square&amp;logo=ubuntu&amp;logoColor=white" height="20" alt="Ubuntu 24.04">
<img src="https://img.shields.io/badge/Ubuntu-26.04-0078d4?style=flat-square&amp;logo=ubuntu&amp;logoColor=white" height="20" alt="Ubuntu 26.04">
<!-- Second row: -->
<br>
<a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main">
<img src="https://img.shields.io/badge/branch-v2--main-555555?style=flat-square" height="20" alt="branch v2-main">
</a>
<a href="http://www.apache.org/licenses/LICENSE-2.0">
<img src="https://img.shields.io/badge/license-Apache--2.0-6bcf00?style=flat-square" height="20" alt="license Apache-2.0">
</a>
<a href="https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2">
<img src="https://img.shields.io/badge/Gitee-mirror-c71d23?style=flat-square" height="20" alt="Gitee mirror">
</a>
</div>
## 简介 ## 简介
OrbbecSDK ROS2 Wrapper 提供 Orbbec 相机与 ROS 2 环境的无缝集成，支持 **ROS2 Foxy、Humble、Jazzy 和 Lyrical** 发行版，并提供对 **Rolling** 的实验性支持。 OrbbecSDK ROS2 Wrapper 提供 Orbbec 相机与 ROS 2 环境的无缝集成，支持 **ROS2 Foxy、Humble、Jazzy 和 Lyrical** 发行版，并提供对 **Rolling** 的实验性支持。
@@ -53,6 +13,26 @@ OrbbecSDK ROS2 Wrapper 提供 Orbbec 相机与 ROS 2 环境的无缝集成，支
- 对于旧的 **OpenNI** 设备（v2-main 不支持），请使用 **main** 分支。 - 对于旧的 **OpenNI** 设备（v2-main 不支持），请使用 **main** 分支。
- 如果您在中国使用，建议使用 [gitee 仓库](https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2)。 - 如果您在中国使用，建议使用 [gitee 仓库](https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2)。
## 从这里开始
完整的使用方法、参数说明和故障排查统一维护在官方
[OrbbecSDK ROS2 文档站](https://orbbec.github.io/OrbbecSDK_ROS2/zh/index.html)。
请根据您的目标直接进入对应指南。
| 我想要…… | 请查看…… |
| ------------------------------------ | ---------------------------------------------------------------------------------------------------------------------- |
| 安装驱动并配置设备权限 | [安装指南](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/2_installation/installation.html) |
| 启动相机并在 RViz2 中查看图像 | [ROS 包快速入门](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/3_quickstarts/quickstart.html) |
| 确认设备支持、固件版本和启动文件 | [支持的硬件](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/1_overview/introduction.html) |
| 配置启动参数、话题、服务、TF 或点云 | [应用指南](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/4_application_guide/application_guide.html) |
| 查找维护、诊断、性能测试或多相机工具 | [工具索引](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/6_benchmark/tools.html) |
| 使用网络相机、GMSL、多相机或高级模式 | [高级指南](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/5_advanced_guide/advanced_guide.html) |
| 排查故障或收集技术支持所需日志 | [常见问题](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/8_FAQ/FAQ.html) |
| 将现有项目从 main (v1.x) 迁移 | [迁移指南](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/7_developer_guide/migration_guide.html) |
| 使用 Orbbec LiDAR | [LiDAR 文档](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/lidar_devices/index.html) |
实用启动示例的源文件可在[示例索引](./orbbec_camera/examples/)中查找。
## 分支选择 ## 分支选择
以下是 main 分支 (v1.x) 和 v2-main 分支 (v2.x) 的设备支持列表： 以下是 main 分支 (v1.x) 和 v2-main 分支 (v2.x) 的设备支持列表：
@@ -301,6 +281,7 @@ git checkout v2-main
cd ~/ros2_ws cd ~/ros2_ws
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
``` ```
## 注册脚本（必需） ## 注册脚本（必需）
为了让 Orbbec 相机在 Linux 上被正确识别，请安装 udev 规则。 为了让 Orbbec 相机在 Linux 上被正确识别，请安装 udev 规则。
@@ -488,17 +469,10 @@ ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'
所有启动文件基本相似，主要区别在于针对不同型号的默认参数设置。不同的 USB 标准（如 USB 2.0 和 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别是启动文件中的分辨率设置以及其他参数，以确保兼容性和最佳性能。 所有启动文件基本相似，主要区别在于针对不同型号的默认参数设置。不同的 USB 标准（如 USB 2.0 和 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别是启动文件中的分辨率设置以及其他参数，以确保兼容性和最佳性能。
## 教程 ## 相关链接
请参考官方 [OrbbecSDK ROS2 文档](https://orbbec.github.io/OrbbecSDK_ROS2/zh/source/camera_devices/5_advanced_guide/advanced_guide.html)
## 示例
要查看更多实践示例并了解如何在 ROS 中使用相机，请参阅 [Examples](./orbbec_camera/examples/) 部分。
## 其他有用链接
- [OrbbecSDK ROS2 文档](https://orbbec.github.io/OrbbecSDK_ROS2/zh/index.html) - [OrbbecSDK ROS2 文档](https://orbbec.github.io/OrbbecSDK_ROS2/zh/index.html)
- [示例索引](./orbbec_camera/examples/)
- [OrbbecSDK_v2](https://github.com/orbbec/OrbbecSDK_v2/releases) - [OrbbecSDK_v2](https://github.com/orbbec/OrbbecSDK_v2/releases)
- [Gemini 330 深度预设](https://www.orbbec.com/docs/g330-use-depth-presets/) - [Gemini 330 深度预设](https://www.orbbec.com/docs/g330-use-depth-presets/)
orbbec_camera/examples/README.MD
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@@ -1,12 +1,17 @@
# Sample launch for OrbbecSDK_ROS2 # OrbbecSDK ROS2 Examples
These simple examples demonstrate how to easily use the camera with OrbbecSDK_ROS2 This directory contains practical launch and tool examples. Full usage,
configuration, and troubleshooting are maintained on the official documentation
site so that instructions have a single source of truth.
## List of Examples: For command-line maintenance and diagnostic utilities, see the official
[Tool Index](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/6_benchmark/tools.html).
| Name | Description | Experience Level | Document | ## Example Index
| :---------------------------------------------------------------------------: | -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------- | ----------------------------------------------------------------------------- |
| [Net_camera](./net_camera) | How to use Net camera in OrbbecSDK_ROS2(Only Femto Mega nad Gemini 335Le) | ⭐️ | [Net_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/configuration/net_camera.html) | | Source | Purpose | Experience Level | Official Guide |
| [Gmsl_camera](./gmsl_camera) | How to use GMSL cameras (Gemini 335Lg, 338Lg, 345Lg, and 305g). | ⭐️ | [Gmsl_camera](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/gmsl_camera.html) | | :---: | --- | :---: | --- |
| [Benchmark](./benchmark) | The goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. | ⭐️⭐️ | [Benchmark](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/performance/benchmark.html) | | [Net camera](./net_camera) | Launch supported Orbbec network cameras. | ⭐️ | [Network camera guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html) |
| [Multi_camera_synced_verification_tool](./multi_camera_synced_verification_tool) | How to verify the synchronization accuracy of multi-camera synchronization. | ⭐️⭐️⭐️ | [Multi_camera_synced_verification_tool](https://orbbec.github.io/OrbbecSDK_ROS2/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html) | | [GMSL camera](./gmsl_camera) | Launch single, multiple, or synchronized GMSL cameras. | ⭐️ | [GMSL camera guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html) |
| [Benchmark](./benchmark) | Benchmark the performance of different camera configurations. | ⭐️⭐️ | [Performance benchmark tools](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/6_benchmark/benchmark_tools.html) |
| [Multi-camera synchronization verification](./multi_camera_synced_verification_tool) | Verify synchronization accuracy across multiple cameras. | ⭐️⭐️⭐️ | [Synchronization verification guide](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html) |
orbbec_camera/scripts/common_benchmark_node.py
+24 -3
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@@ -12,6 +12,7 @@ usage:
""" """
import argparse import argparse
import sys
import rclpy import rclpy
from rclpy.node import Node from rclpy.node import Node
import psutil import psutil
@@ -21,11 +22,24 @@ import os
from collections import defaultdict from collections import defaultdict
from orbbec_camera_msgs.msg import DeviceStatus from orbbec_camera_msgs.msg import DeviceStatus
from sensor_msgs.msg import Image from sensor_msgs.msg import Image
import sys
from tabulate import tabulate from tabulate import tabulate
CAMERA_NODE_NAMES = ["component_container", "orbbec_camera_node", "nodelet"] CAMERA_NODE_NAMES = ["component_container", "orbbec_camera_node", "nodelet"]
DOCUMENTATION_URL = (
"https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/"
"6_benchmark/benchmark_tools.html"
)
class DocumentationArgumentParser(argparse.ArgumentParser):
def error(self, message):
self.print_usage(sys.stderr)
self.exit(
2,
f"{self.prog}: error: {message}\n"
f"For usage and troubleshooting, see: {DOCUMENTATION_URL}\n",
)
# ----------------tool functions---------------- # ----------------tool functions----------------
def parse_duration(s): def parse_duration(s):
@@ -471,7 +485,10 @@ class CameraMonitorNode(Node):
def main(argv=None): def main(argv=None):
parser = argparse.ArgumentParser() parser = DocumentationArgumentParser(
epilog=f"Documentation: {DOCUMENTATION_URL}",
formatter_class=argparse.RawDescriptionHelpFormatter,
)
parser.add_argument("--run_time", type=str, default="10s", help="Total run time for monitoring, e.g., 10s, 5m, 1h.") parser.add_argument("--run_time", type=str, default="10s", help="Total run time for monitoring, e.g., 10s, 5m, 1h.")
parser.add_argument("--csv_file", type=str, default="camera_monitor_log.csv") parser.add_argument("--csv_file", type=str, default="camera_monitor_log.csv")
parser.add_argument("--ideal_fps", type=float, default=0.0, help="Optional ideal frame rate to use for drop detection (overrides reported avg).") parser.add_argument("--ideal_fps", type=float, default=0.0, help="Optional ideal frame rate to use for drop detection (overrides reported avg).")
@@ -494,4 +511,8 @@ def main(argv=None):
node.destroy_node() node.destroy_node()
if __name__ == "__main__": if __name__ == "__main__":
main() try:
main()
except Exception:
print(f"For usage and troubleshooting, see: {DOCUMENTATION_URL}", file=sys.stderr)
raise
orbbec_camera/scripts/service_benchmark_node.py
+26 -2
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@@ -23,6 +23,23 @@ from statistics import mean
from tabulate import tabulate from tabulate import tabulate
import importlib import importlib
import csv import csv
import sys
DOCUMENTATION_URL = (
"https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/"
"6_benchmark/benchmark_tools.html"
)
class DocumentationArgumentParser(argparse.ArgumentParser):
def error(self, message):
self.print_usage(sys.stderr)
self.exit(
2,
f"{self.prog}: error: {message}\n"
f"For usage and troubleshooting, see: {DOCUMENTATION_URL}\n",
)
class ServiceBenchmark: class ServiceBenchmark:
@@ -180,7 +197,10 @@ class BenchmarkRunner:
def main(): def main():
parser = argparse.ArgumentParser() parser = DocumentationArgumentParser(
epilog=f"Documentation: {DOCUMENTATION_URL}",
formatter_class=argparse.RawDescriptionHelpFormatter,
)
parser.add_argument("--service", help="Service name") parser.add_argument("--service", help="Service name")
parser.add_argument("--count", type=int, default=10, help="Number of calls") parser.add_argument("--count", type=int, default=10, help="Number of calls")
parser.add_argument("--yaml_file", help="YAML config file for batch testing") parser.add_argument("--yaml_file", help="YAML config file for batch testing")
@@ -207,4 +227,8 @@ def main():
if __name__ == "__main__": if __name__ == "__main__":
main() try:
main()
except Exception:
print(f"For usage and troubleshooting, see: {DOCUMENTATION_URL}", file=sys.stderr)
raise
orbbec_camera/tools/firmware_update_tool.cpp
+7 -1
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@@ -33,6 +33,9 @@
#include "orbbec_camera/utils.h" #include "orbbec_camera/utils.h"
namespace { namespace {
constexpr char kDocumentationUrl[] =
"https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/6_benchmark/"
"firmware_update_tool.html";
constexpr int kProgressLogBucketPercent = 25; constexpr int kProgressLogBucketPercent = 25;
constexpr int kFirmwareLogDrainDelaySec = 5; constexpr int kFirmwareLogDrainDelaySec = 5;
@@ -131,7 +134,9 @@ void printUsage() {
<< " 2) If multiple devices are connected, specify target by serial/usb/ip to avoid wrong " << " 2) If multiple devices are connected, specify target by serial/usb/ip to avoid wrong "
"updates.\n" "updates.\n"
<< " 3) Repeating --serial_number or passing comma-separated values enables sequential " << " 3) Repeating --serial_number or passing comma-separated values enables sequential "
"batch update.\n"; "batch update.\n\n"
<< "Documentation:\n"
<< " " << kDocumentationUrl << "\n";
} }
bool parseArgs(int argc, char **argv, CliArgs &args, std::string &error) { bool parseArgs(int argc, char **argv, CliArgs &args, std::string &error) {
@@ -862,6 +867,7 @@ int main(int argc, char **argv) {
RCLCPP_ERROR(logger, "Unknown error"); RCLCPP_ERROR(logger, "Unknown error");
} }
RCLCPP_ERROR(logger, "For usage and troubleshooting, see: %s", kDocumentationUrl);
rclcpp::shutdown(); rclcpp::shutdown();
return 1; return 1;
} }
orbbec_camera/tools/ip_config_tool.cpp
+28 -33
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@@ -14,6 +14,9 @@ using namespace ob;
namespace { namespace {
constexpr int kFirmwareLogDrainDelaySec = 5; constexpr int kFirmwareLogDrainDelaySec = 5;
constexpr char kDocumentationUrl[] =
"https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/6_benchmark/"
"network_config_tools.html";
void waitForFirmwareLogDrain(const rclcpp::Logger &logger) { void waitForFirmwareLogDrain(const rclcpp::Logger &logger) {
RCLCPP_INFO(logger, "Waiting %d seconds to keep firmware log alive...", RCLCPP_INFO(logger, "Waiting %d seconds to keep firmware log alive...",
@@ -25,6 +28,12 @@ bool isSdkLogEnabled(const std::string &log_level) {
return orbbec_camera::obLogSeverityFromString(log_level) != OBLogSeverity::OB_LOG_SEVERITY_OFF; return orbbec_camera::obLogSeverityFromString(log_level) != OBLogSeverity::OB_LOG_SEVERITY_OFF;
} }
int reportFailure(const rclcpp::Logger &logger) {
RCLCPP_ERROR(logger, "For usage and troubleshooting, see: %s", kDocumentationUrl);
rclcpp::shutdown();
return 1;
}
} // namespace } // namespace
struct CliArgs { struct CliArgs {
@@ -177,7 +186,9 @@ void printHelp() {
<< " Debug: ros2 run orbbec_camera ip_config_tool -- \\\n" << " Debug: ros2 run orbbec_camera ip_config_tool -- \\\n"
<< " set_ip --current_ip 192.168.1.10 --enable_dhcp true " << " set_ip --current_ip 192.168.1.10 --enable_dhcp true "
"--enable_persistent_ip false \\\n" "--enable_persistent_ip false \\\n"
<< " --sdk_log_level debug\n"; << " --sdk_log_level debug\n\n"
<< "Documentation:\n"
<< " " << kDocumentationUrl << "\n";
} }
bool parseArgs(int argc, char **argv, CliArgs &args, std::string &error) { bool parseArgs(int argc, char **argv, CliArgs &args, std::string &error) {
@@ -461,18 +472,15 @@ int main(int argc, char **argv) {
uint8_t gateway[4] = {0}; uint8_t gateway[4] = {0};
if (args.persistent_ip && !parseIpString(args.new_ip, address)) { if (args.persistent_ip && !parseIpString(args.new_ip, address)) {
RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str()); RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
if (args.persistent_ip && !parseIpString(args.mask, mask)) { if (args.persistent_ip && !parseIpString(args.mask, mask)) {
RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str()); RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
if (args.persistent_ip && !parseIpString(args.gateway, gateway)) { if (args.persistent_ip && !parseIpString(args.gateway, gateway)) {
RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str()); RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
OBNetIpConfigV2 ip_config_v2{}; OBNetIpConfigV2 ip_config_v2{};
@@ -521,8 +529,7 @@ int main(int argc, char **argv) {
"Legacy IP config (1041) supports mutually exclusive DHCP and persistent " "Legacy IP config (1041) supports mutually exclusive DHCP and persistent "
"IP only. Use --enable_dhcp true --enable_persistent_ip false or " "IP only. Use --enable_dhcp true --enable_persistent_ip false or "
"--enable_dhcp false --enable_persistent_ip true."); "--enable_dhcp false --enable_persistent_ip true.");
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
ip_config.dhcp = args.dhcp ? 1 : 0; ip_config.dhcp = args.dhcp ? 1 : 0;
uint8_t address[4] = {0}; uint8_t address[4] = {0};
@@ -530,18 +537,15 @@ int main(int argc, char **argv) {
uint8_t gateway[4] = {0}; uint8_t gateway[4] = {0};
if (args.persistent_ip && !parseIpString(args.new_ip, address)) { if (args.persistent_ip && !parseIpString(args.new_ip, address)) {
RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str()); RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
if (args.persistent_ip && !parseIpString(args.mask, mask)) { if (args.persistent_ip && !parseIpString(args.mask, mask)) {
RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str()); RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
if (args.persistent_ip && !parseIpString(args.gateway, gateway)) { if (args.persistent_ip && !parseIpString(args.gateway, gateway)) {
RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str()); RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
if (args.persistent_ip) { if (args.persistent_ip) {
std::memcpy(ip_config.address, address, sizeof(address)); std::memcpy(ip_config.address, address, sizeof(address));
@@ -579,18 +583,15 @@ int main(int argc, char **argv) {
if (!args.dhcp) { if (!args.dhcp) {
if (!parseIpString(args.new_ip, ip_config.address)) { if (!parseIpString(args.new_ip, ip_config.address)) {
RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str()); RCLCPP_ERROR(logger, "Invalid new_ip format: %s", args.new_ip.c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
if (!parseIpString(args.mask, ip_config.mask)) { if (!parseIpString(args.mask, ip_config.mask)) {
RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str()); RCLCPP_ERROR(logger, "Invalid mask format: %s", args.mask.c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
if (!parseIpString(args.gateway, ip_config.gateway)) { if (!parseIpString(args.gateway, ip_config.gateway)) {
RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str()); RCLCPP_ERROR(logger, "Invalid gateway format: %s", args.gateway.c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
} }
@@ -607,8 +608,7 @@ int main(int argc, char **argv) {
} }
} else { } else {
RCLCPP_ERROR(logger, "Force-ip failed (SDK returned false)."); RCLCPP_ERROR(logger, "Force-ip failed (SDK returned false).");
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
} }
@@ -621,16 +621,14 @@ int main(int argc, char **argv) {
if (!device->isPropertySupported(OB_PROP_DHCP_ASSIGN_IP_TIMEOUT_INT, OB_PERMISSION_WRITE)) { if (!device->isPropertySupported(OB_PROP_DHCP_ASSIGN_IP_TIMEOUT_INT, OB_PERMISSION_WRITE)) {
RCLCPP_ERROR(logger, "Current device or firmware does not support DHCP assign IP timeout"); RCLCPP_ERROR(logger, "Current device or firmware does not support DHCP assign IP timeout");
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
auto range = device->getIntPropertyRange(OB_PROP_DHCP_ASSIGN_IP_TIMEOUT_INT); auto range = device->getIntPropertyRange(OB_PROP_DHCP_ASSIGN_IP_TIMEOUT_INT);
if (args.dhcp_assign_ip_timeout < range.min || args.dhcp_assign_ip_timeout > range.max) { if (args.dhcp_assign_ip_timeout < range.min || args.dhcp_assign_ip_timeout > range.max) {
RCLCPP_ERROR(logger, "Timeout %d is out of range [%d, %d]", args.dhcp_assign_ip_timeout, RCLCPP_ERROR(logger, "Timeout %d is out of range [%d, %d]", args.dhcp_assign_ip_timeout,
range.min, range.max); range.min, range.max);
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
device->setIntProperty(OB_PROP_DHCP_ASSIGN_IP_TIMEOUT_INT, args.dhcp_assign_ip_timeout); device->setIntProperty(OB_PROP_DHCP_ASSIGN_IP_TIMEOUT_INT, args.dhcp_assign_ip_timeout);
@@ -645,16 +643,13 @@ int main(int argc, char **argv) {
} catch (ob::Error &e) { } catch (ob::Error &e) {
RCLCPP_ERROR(logger, "ip_config_tool: %s", orbbec_camera::formatObErrorWithStatus(e).c_str()); RCLCPP_ERROR(logger, "ip_config_tool: %s", orbbec_camera::formatObErrorWithStatus(e).c_str());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} catch (const std::exception &e) { } catch (const std::exception &e) {
RCLCPP_ERROR(logger, "ip_config_tool: %s", e.what()); RCLCPP_ERROR(logger, "ip_config_tool: %s", e.what());
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} catch (...) { } catch (...) {
RCLCPP_ERROR(logger, "ip_config_tool: unknown error"); RCLCPP_ERROR(logger, "ip_config_tool: unknown error");
rclcpp::shutdown(); return reportFailure(logger);
return 1;
} }
rclcpp::shutdown(); rclcpp::shutdown();
orbbec_camera/tools/list_camera_profile.cpp
+8 -2
View File
@@ -15,6 +15,9 @@ using namespace orbbec_camera;
namespace { namespace {
constexpr int kFirmwareLogDrainDelaySec = 5; constexpr int kFirmwareLogDrainDelaySec = 5;
constexpr char kDocumentationUrl[] =
"https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/6_benchmark/"
"device_query_tools.html";
struct CliArgs { struct CliArgs {
bool help = false; bool help = false;
@@ -33,7 +36,9 @@ void printUsage() {
"(default: off).\n" "(default: off).\n"
<< " -h, --help Show this help message.\n" << " -h, --help Show this help message.\n"
<< "Examples:\n" << "Examples:\n"
<< " ros2 run orbbec_camera list_camera_profile_mode_node -- --sdk_log_level debug\n"; << " ros2 run orbbec_camera list_camera_profile_mode_node -- --sdk_log_level debug\n\n"
<< "Documentation:\n"
<< " " << kDocumentationUrl << "\n";
} }
bool parseArgs(int argc, char** argv, CliArgs& args, std::string& error) { bool parseArgs(int argc, char** argv, CliArgs& args, std::string& error) {
@@ -116,7 +121,8 @@ std::shared_ptr<ob::Device> initializeDevice(const std::string& serial_number) {
auto context = std::make_shared<ob::Context>(); auto context = std::make_shared<ob::Context>();
auto device_list = context->queryDeviceList(); auto device_list = context->queryDeviceList();
if (!device_list || device_list->getCount() == 0) { if (!device_list || device_list->getCount() == 0) {
std::cout << "No device found" << std::endl; std::cout << "No device found\nFor usage and troubleshooting, see: " << kDocumentationUrl
<< std::endl;
return nullptr; return nullptr;
} }
orbbec_camera/tools/list_devices_node.cpp
+12 -1
View File
@@ -29,6 +29,9 @@
namespace { namespace {
constexpr int kFirmwareLogDrainDelaySec = 5; constexpr int kFirmwareLogDrainDelaySec = 5;
constexpr char kDocumentationUrl[] =
"https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/6_benchmark/"
"device_query_tools.html";
struct CliArgs { struct CliArgs {
bool help = false; bool help = false;
@@ -42,7 +45,9 @@ void printUsage() {
<< " --sdk_log_level LEVEL SDK file log level: debug/info/warn/error/fatal/off " << " --sdk_log_level LEVEL SDK file log level: debug/info/warn/error/fatal/off "
"(default: off).\n\n" "(default: off).\n\n"
<< "Examples:\n" << "Examples:\n"
<< " ros2 run orbbec_camera list_devices_node -- --sdk_log_level debug\n"; << " ros2 run orbbec_camera list_devices_node -- --sdk_log_level debug\n\n"
<< "Documentation:\n"
<< " " << kDocumentationUrl << "\n";
} }
bool parseArgs(int argc, char **argv, CliArgs &args, std::string &error) { bool parseArgs(int argc, char **argv, CliArgs &args, std::string &error) {
@@ -339,10 +344,16 @@ int main(int argc, char **argv) {
} catch (ob::Error &e) { } catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"),
orbbec_camera::formatObErrorWithStatus(e)); orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"),
"For usage and troubleshooting, see: " << kDocumentationUrl);
} catch (const std::exception &e) { } catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.what()); RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.what());
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"),
"For usage and troubleshooting, see: " << kDocumentationUrl);
} catch (...) { } catch (...) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), "unknown error"); RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), "unknown error");
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"),
"For usage and troubleshooting, see: " << kDocumentationUrl);
} }
return 0; return 0;
} }