mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-12 23:39:50 +08:00
Update build workflow and enhance Chinese documentation
This commit is contained in:
obyalian
@@ -3,47 +3,49 @@ name: Deploy Docs
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on:
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on:
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push:
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push:
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branches:
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branches:
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- main
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- Document
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- Document
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workflow_dispatch:
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workflow_dispatch:
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concurrency:
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group: docs-deploy
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cancel-in-progress: true
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jobs:
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jobs:
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build:
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build:
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runs-on: ubuntu-latest
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runs-on: ubuntu-latest
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steps:
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steps:
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- name: Checkout
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- name: Checkout
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- name: Set up Python
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- name: Set up Python
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uses: actions/setup-python@v4
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uses: actions/setup-python@v5
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with:
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with:
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python-version: "3.12"
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python-version: '3.11'
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cache: 'pip'
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- name: Install dependencies
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- name: Install dependencies (EN + ZH)
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run: |
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run: |
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python -m pip install --upgrade pip
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python -m pip install --upgrade pip
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pip install -r docs/en/requirements.txt
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pip install -r docs/en/requirements.txt -r docs/zh/requirements.txt
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- name: Build English Docs
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- name: Build English docs (root)
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run: |
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run: sphinx-build -b html docs/en _site
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cd docs/en
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sphinx-build -b html . _build/html
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- name: Build Chinese Docs
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- name: Build Chinese docs (zh subdir)
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run: |
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run: sphinx-build -b html docs/zh _site/zh
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cd docs/zh
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sphinx-build -b html . _build/html
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- name: Prepare deployment directory
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- name: Create 404 redirect (optional)
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run: |
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run: |
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mkdir -p _deploy
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echo '<meta http-equiv="refresh" content="0; url=index.html" />' > _site/404.html
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cp -r docs/en/_build/html/* _deploy/
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cp -r docs/zh/_build/html _deploy/zh
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- name: Deploy to GitHub Pages
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- name: Deploy to GitHub Pages
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uses: peaceiris/actions-gh-pages@v4
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uses: peaceiris/actions-gh-pages@v4
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with:
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with:
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deploy_key: ${{ secrets.DEPLOY_KEY }}
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github_token: ${{ secrets.GITHUB_TOKEN }}
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external_repository: orbbec/OrbbecSDK_ROS2
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publish_branch: gh-pages
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publish_branch: gh-pages
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publish_dir: _deploy
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publish_dir: _site
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keep_files: false
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force_orphan: false
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# Root will serve English index.html by default; Chinese docs under /zh/.
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@@ -1,38 +1,260 @@
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# 概述
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# 引言
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|
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## 关于 OrbbecSDK ROS2 包装器
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OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它支持 ROS2 Foxy、Humble 和 Jazzy 发行版。
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||||||
|
|
||||||
OrbbecSDK ROS2 包装器是奥比中光科技集团为 ROS2（Robot Operating System 2）开发的官方软件包。它为 Orbbec 3D 相机提供完整的接口支持，使开发者能够轻松地在机器人应用中集成深度感知和 3D 视觉功能。
|
默认推荐使用 **v2-main** 分支。对于 v2-main 尚不支持的旧 OpenNI 设备，请使用 **main** 分支。仅由 main 分支支持的设备型号列在下表中。
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||||||
|
|
||||||
## 主要特性
|
如果您是中国用户，推荐使用 [gitee 仓库](https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2)。
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||||||
|
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||||||
- ✅ **完整的相机支持**: 支持所有 Orbbec 3D 相机型号
|
下面是 main 分支 (v1.x) 与 v2-main 分支 (v2.x) 的设备支持列表：
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||||||
- 🚀 **高性能**: 优化的数据流处理和低延迟
|
|
||||||
- 🎯 **易于使用**: 简单的 ROS2 接口和丰富的示例
|
|
||||||
- 🔧 **可配置**: 灵活的启动参数和配置选项
|
|
||||||
- 📊 **丰富的数据流**: 深度、彩色、红外、点云等
|
|
||||||
- 🌐 **跨平台**: 支持 Linux、Windows 和 ARM 平台
|
|
||||||
|
|
||||||
## 支持的设备
|
<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
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<thead>
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||||||
|
<tr style="background-color: #1f4e78; color: white; text-align: center;">
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||||||
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<th>产品系列</th>
|
||||||
|
<th>产品</th>
|
||||||
|
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">main 分支</a></th>
|
||||||
|
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">v2-main 分支</a></th>
|
||||||
|
</tr>
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||||||
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</thead>
|
||||||
|
<tbody>
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||||||
|
<tr>
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||||||
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<td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
|
||||||
|
<td>Gemini 435Le</td>
|
||||||
|
<td>不支持</td>
|
||||||
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<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
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<tr>
|
||||||
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<td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
|
||||||
|
<td>Gemini 335</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
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<tr>
|
||||||
|
<td>Gemini 336</td>
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||||||
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<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 335L</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
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||||||
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<tr>
|
||||||
|
<td>Gemini 336L</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 335Lg</td>
|
||||||
|
<td>不支持</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 335Le</td>
|
||||||
|
<td>不支持</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 330</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 330L</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td rowspan="3" style="text-align: center; font-weight: bold;">Gemini 2</td>
|
||||||
|
<td>Gemini 2</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 2 L</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 2 XL</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
<td>即将支持</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
|
||||||
|
<td>Femto Bolt</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Femto Mega</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Femto Mega I</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>即将支持</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
|
||||||
|
<td>Astra 2</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>建议用于新设计</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Astra+</td>
|
||||||
|
<td>限制维护</td>
|
||||||
|
<td>不支持</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Astra Pro Plus</td>
|
||||||
|
<td>限制维护</td>
|
||||||
|
<td>不支持</td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td style="text-align: center; font-weight: bold;">Astra Mini</td>
|
||||||
|
<td>Astra Mini Pro</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
<td>完整维护</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
本 ROS2 包装器支持以下 Orbbec 3D 相机系列：
|
**注意**: 如果未找到您的设备，请联系我们的 FAE 或销售代表获取帮助。
|
||||||
|
|
||||||
- Astra 系列
|
**术语定义**:
|
||||||
- Gemini 系列
|
|
||||||
- Femto 系列
|
|
||||||
- Persee 系列
|
|
||||||
|
|
||||||
详细的设备兼容性列表请参考产品文档。
|
1. 建议用于新设计：我们将提供完整支持，包括新特性、缺陷修复与性能优化；
|
||||||
|
2. 完整维护：我们将提供缺陷修复支持；
|
||||||
|
3. 限制维护：我们仅提供关键缺陷修复支持；
|
||||||
|
4. 不支持：当前版本不支持该设备；
|
||||||
|
5. 即将支持：近期将添加支持。
|
||||||
|
|
||||||
## 快速链接
|
## 支持的硬件产品
|
||||||
|
|
||||||
- [安装指南](../2_installation/installation.rst)
|
以下设备由 OrbbecSDK ROS2 封装 v2-main 分支支持。后续将增加更多设备支持。如果您在下表中未找到设备，请尝试 [main](https://github.com/orbbec/OrbbecSDK_ROS2) 分支。
|
||||||
- [快速开始](../3_quickstarts/quickstarts.rst)
|
|
||||||
- [应用指南](../4_application_guide/application_guide.rst)
|
|
||||||
|
|
||||||
## 技术支持
|
为获得最佳性能，强烈建议升级到最新固件版本，以确保获得最新的改进与缺陷修复。
|
||||||
|
|
||||||
如需技术支持，请访问：
|
关于如何获取与升级最新固件，[请点击这里](../3_quickstarts/orbbecviewer.md)。
|
||||||
- 官方网站: https://www.orbbec.com
|
|
||||||
- GitHub 仓库: https://github.com/orbbec/OrbbecSDK_ROS2
|
| 产品列表 | 最低固件版本 | **启动文件** |
|
||||||
- 技术支持: support@orbbec.com
|
|:--------------- |:------------ |:---------------------------- |
|
||||||
|
| Gemini 435Le | 1.2.04 | gemini435_le.launch.py |
|
||||||
|
| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
|
||||||
|
| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
|
||||||
|
| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
|
||||||
|
| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
|
||||||
|
| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
|
||||||
|
| Gemini 335Le | 1.5.31 | gemini_330_series.launch.py |
|
||||||
|
| Gemini 330 | 1.2.20 | gemini_330_series.launch.py |
|
||||||
|
| Gemini 330L | 1.2.20 | gemini_330_series.launch.py |
|
||||||
|
| Gemini 2 | 1.4.92 | gemini2.launch.py |
|
||||||
|
| Gemini 2 L | 1.4.53 | gemini2L.launch.py |
|
||||||
|
| Femto Bolt | 1.1.2 | femto_bolt.launch.py |
|
||||||
|
| Femto Mega | 1.3.0 | femto_mega.launch.py |
|
||||||
|
| Astra 2 | 2.8.20 | astra2.launch.py |
|
||||||
|
| Astra Mini Pro | 2.0.01 | astra.launch.py |
|
||||||
|
|
||||||
|
所有启动文件本质上是类似的，主要区别在于同系列不同型号设置的参数默认值。USB 标准差异（如 USB 2.0 与 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，特别关注启动文件中的分辨率设置以及其他参数，以确保兼容与最佳性能。
|
||||||
|
|
||||||
|
## Orbbec 相机规格书
|
||||||
|
|
||||||
|
更多信息请参考相机规格书。
|
||||||
|
|
||||||
|
<style>
|
||||||
|
table {
|
||||||
|
border-collapse: collapse;
|
||||||
|
width: 100%;
|
||||||
|
}
|
||||||
|
th, td {
|
||||||
|
border: 1px solid #ccc;
|
||||||
|
padding: 8px;
|
||||||
|
text-align: left;
|
||||||
|
vertical-align: middle;
|
||||||
|
}
|
||||||
|
thead th {
|
||||||
|
background-color: #1f4e78;
|
||||||
|
color: white;
|
||||||
|
text-align: center;
|
||||||
|
vertical-align: middle;
|
||||||
|
}
|
||||||
|
</style>
|
||||||
|
|
||||||
|
<table>
|
||||||
|
<thead>
|
||||||
|
<tr>
|
||||||
|
<th>产品系列</th>
|
||||||
|
<th>产品</th>
|
||||||
|
<th>规格书</th>
|
||||||
|
</tr>
|
||||||
|
</thead>
|
||||||
|
<tbody>
|
||||||
|
<tr>
|
||||||
|
<td style="text-align: center;">Gemini 435Le</td>
|
||||||
|
<td>Gemini 435Le</td>
|
||||||
|
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/06/04011158/Orbbec-Gemini-435Le-Datasheet-V1.pdf">Orbbec Gemini 435Le 规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td style="text-align: center;" rowspan="6">Gemini 330</td>
|
||||||
|
<td>Gemini 335</td>
|
||||||
|
<td rowspan="4"><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/04/22062452/Gemini-330-series-Datasheet-V1.6.pdf">Gemini 330 系列 USB 设备规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr><td>Gemini 336</td></tr>
|
||||||
|
<tr><td>Gemini 335L</td></tr>
|
||||||
|
<tr><td>Gemini 336L</td></tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 335Lg</td>
|
||||||
|
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2024/10/22030914/Gemini-335Lg-Datasheet-V1.0-241022.pdf">Gemini 330 系列 GMSL 设备规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 335Le</td>
|
||||||
|
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/03/24023151/Orbbec-Gemini-335Le-Datasheet-V1-2.pdf">Gemini 330 系列 以太网设备规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td style="text-align: center;" rowspan="3">Gemini 2</td>
|
||||||
|
<td>Gemini 2</td>
|
||||||
|
<td rowspan="2"><a href="https://xm917ch2uk.feishu.cn/file/Khxfb2vdioUghexIMqJcAyL3nXf">Orbbec Gemini 2 系列规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr><td>Gemini 2 L</td></tr>
|
||||||
|
<tr>
|
||||||
|
<td>Gemini 2 XL</td>
|
||||||
|
<td><a href="https://xm917ch2uk.feishu.cn/file/QW2vbNvwxoocRIxSL6Zcvut2npS">Orbbec Gemini 2 XL 规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td style="text-align: center;" rowspan="3">Femto</td>
|
||||||
|
<td>Femto Bolt</td>
|
||||||
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2024/08/ORBBEC_Datasheet_Femto-Bolt-v1.0.pdf">Orbbec Femto Bolt 规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Femto Mega</td>
|
||||||
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Femto-Mega1.pdf">Orbbec Femto Mega 规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Femto Mega I</td>
|
||||||
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/08/ORBBEC_Datasheet_Femto-Mega-I.pdf">Orbbec Femto Mega I 规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td style="text-align: center;" rowspan="3">Astra</td>
|
||||||
|
<td>Astra 2</td>
|
||||||
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-2_V1.2.pdf">Orbbec Astra 2 规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Astra+</td>
|
||||||
|
<td><a href="https://xm917ch2uk.feishu.cn/file/Qk0zbx26Doh8XMxw0rIcOgQYnff">Orbbec Astra+ 规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
<tr>
|
||||||
|
<td>Astra Mini Pro</td>
|
||||||
|
<td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-Mini-Pro-1.pdf">Orbbec Astra Mini Pro 规格书</a></td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
## 支持的平台
|
||||||
|
|
||||||
|
- Linux x64：已在 Ubuntu 22.04 上测试
|
||||||
|
- Linux ARM64：已在 NVIDIA Jetson AGX Orin、NVIDIA Jetson Orin NX、NVIDIA Jetson Orin Nano、NVIDIA Jetson AGX Xavier、NVIDIA Jetson Xavier NX 上测试
|
||||||
|
|||||||
Reference in New Issue
Block a user