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Update README framework
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jj
@@ -234,7 +234,7 @@ Launch camera node
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```bash
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. ./install/setup.bash
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ros2 launch orbbec_camera astra.launch.py # or other launch file, see below table
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ros2 launch orbbec_camera gemini_330_series.launch.py # or other launch file, see below table
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```
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- On terminal 2
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@@ -319,142 +319,61 @@ ros2 service call /camera/toggle_ir std_srvs/srv/SetBool "{data : true}"
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ros2 service call /camera/save_point_cloud std_srvs/srv/Empty "{}"
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```
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## Efficient intra-process communication:
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## Network device enumeration
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Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on image/pointcloud topics, especially with big frame resolutions and high FPS.
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When using Femto_Mega, you can use the network to connect the device.
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You will need to launch a component container and launch our node as a component together with other component nodes. Further details on "Composing multiple nodes in a single process" can be found [here](https://docs.ros.org/en/rolling/Tutorials/Composition.html).
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For more information about network device enumeration.Reference:[Network device documentation](./docs/network_device_enumeration.md)
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Further details on efficient intra-process communication can be found [here](https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication).
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## Multi-Camera
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### Example
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When you have multiple cameras, you can activate all of them at the same time.
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#### Manually loading multiple components into the same process
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* Start the component:
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```bash
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ros2 run rclcpp_components component_container
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```
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* Add the wrapper:
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```bash
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ros2 component load /ComponentManager orbbec_camera orbbec_camera::OBCameraNodeDriver -e use_intra_process_comms:=true
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```
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Load other component nodes (consumers of the wrapper topics) in the same way.
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#### Using a launch file
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```bash
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ros2 launch orbbec_camera gemini_intra_process_demo_launch.py
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```
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### Limitations
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* Node components are currently not supported on RCLPY
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* Compressed images using `image_transport` will be disabled as this isn't supported with intra-process communication
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## Use V4L2 backend
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[Setting uvc_backend](#launch-parameters)
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Note: The V4L2 backend is not enabled by default.
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For more information about Multi camera.Reference:[Multi camera documentation](./docs/network_device_enumeration.md)
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## Launch parameters
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The following are the launch parameters available:
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For the entire list of parameters type `ros2 param list`.
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- `connection_delay`: The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require
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a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.
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- `enable_point_cloud`: Enables the point cloud.
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- `enable_colored_point_cloud`: Enables the RGB point cloud.
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- `cloud_frame_id`:Modifying the frame_id name within the ros message.
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- `ordered_pc`:Enable filtering of invalid point clouds.
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- `point_cloud_qos`, `[color|depth|ir]_qos`, `[color|depth|ir]_camera_info_qos`: ROS 2 Message Quality of Service (QoS)
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settings. The possible values
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are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are
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case-insensitive. These correspond
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to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`,
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and `SENSOR_DATA`, respectively.
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- `enable_d2c_viewer`: Publishes the D2C overlay image (for testing only).
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- `device_num`: The number of devices. This must be filled in if multiple cameras are required.
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- `uvc_backend`:Optional values: v4l2, libuvc
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- `color_width`, `color_height`, `color_fps`: The resolution and frame rate of the color stream.
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- `ir_width`, `ir_height`, `ir_fps`: The resolution and frame rate of the IR stream.
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- `depth_width`, `depth_height`, `depth_fps`: The resolution and frame rate of the depth stream.
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- `enable_color`: Enables the RGB camera.
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- `enable_depth`: Enables the depth camera.
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- `enable_ir`: Enables the IR camera.
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- `depth_registration`: Enables alignment of the depth frame to the color frame. This field is required when
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the `enable_colored_point_cloud` is set to `true`.
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- `usb_port`: The USB port of the camera. This is required when multiple cameras are used.
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- `enable_accel`: Enables the accelerometer.
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- `accel_rate`: The frequency of the accelerometer, the optional values
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are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.
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The specific value depends on the current camera.
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- `accel_range`: The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value
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depends on the current camera.
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- `enable_gyro`: Enables the gyroscope.
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- `gyro_rate`: The frequency of the gyroscope, the optional values
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are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.
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The specific value depends on the current camera.
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- `gyro_range`: The range of the gyroscope, the optional values
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are `16dps`, `31dps`, `62dps`, `125dps`, `250dps`, `500dps`, `1000dps`, `2000dps`. The specific value depends on the
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current camera.
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- `enumerate_net_device`: Enables the function of enumerating network devices. True means enabled, false means disabled.
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This feature is only supported by Femto Mega and Gemini 2 XL devices. When accessing these devices through the
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network, the IP address of the device needs to be configured in advance. The enable switch needs to be set to true.
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- `depth_filter_config`: Configures the loading path for the depth filtering configuration file. By default, the depth
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filtering configuration file is located in the /config/depthfilter directory. Supported only on Gemini2.
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- `depth_precision`: The depth precision should be in the format `1mm`. The default value is `1mm`.
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- `enable_laser`: Enables the laser. The default value is `true`.
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- `device_preset`: The default value is `Default`. Only the G330 series is supported. For more information, refer to
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the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). Please refer to the table below to set
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the `device_preset` value based on your use case. The value should be one of the preset names
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listed [in the table](#predefined-presets).
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- `enable_decimation_filter`: This filter effectively reduces the depth scene complexity. The filter runs on kernel
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sizes [2x2] to [8x8] pixels. The image size is scaled down proportionally in both dimensions to preserve the aspect
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ratio.
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- `enable_hdr_merge`: This filter is used jointly with the depth HDR function. By merging consecutive depth images of
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alternating exposure values, we can overcome challenges in acquiring depth values for under-illuminated and
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over-illuminated objects simultaneously.
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- `enable_sequence_id_filter`: This filter is used jointly with the depth HDR function and outputs only the sequence
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with the specified sequence ID.
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- `enable_threshold_filter`: This filter preserves depth values of interest and omits depth values out of scope.
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- `enable_noise_removal_filter`: This filter removes speckle noise in clusters and gives rise to a less-filled depth
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map.
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- `enable_spatial_filter`: This filter performs multiple iterations of processing as specified by the magnitude
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parameter to enhance the smoothness of depth data. It is also capable of filling small holes in depth maps.
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- `enable_temporal_filter`: This filter is intended to improve the depth data persistency by manipulating per-pixel
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values based on previous frames. The filter performs a single pass on the data, adjusting the depth values while also
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updating the tracking history.
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- `enable_hole_filling_filter`: This filter fills all holes in the depth map using the specified mode.
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- `retry_on_usb3_detection_failure`: If the camera is connected to a USB 2.0 port and is not detected, the system will
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attempt to reset the camera up to three times. This setting aims to prevent USB 3.0 devices from being incorrectly
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recognized as USB 2.0. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid
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unnecessary resets.
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- `tf_publish_rate`: The rate at which the camera publishes dynamic transforms. The default value is `0.0`, which means static transforms are published.
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- `time_domain`: The frame time domain, string type, can be `device`, `global`, or `system`. `device` means using the hardware timestamp from the camera,
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`system` means using the timestamp when the PC received the first packet of data or frame, and `global` is used for synchronized time across multiple
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devices, aligning data from different sources to a common time base.
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- `enable_sync_host_time`: Enables synchronization of the host time with the camera time. The default value is `true`, if
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use global time, set to `false`. Some old devices may not support this feature.
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- `config_file_path`: The path to the YAML configuration file. The default value is `""`. If the configuration file is not specified,
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the default parameters from the launch file will be used. If you want to use a custom configuration file, please refer to `gemini_330_series.launch.py`.
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`enable_heartbeat` enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to
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the firmware, and if hardware logging is desired, it should also be set to `true`.
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- `log_level` : SDK log level, the default value is `info`, the optional values are `debug`, `info`, `warn`, `error`, `fatal`.
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- `enable_color_undistortion`: Enables color undistortion, the default value is `false`. Note that our color cameras exhibit minimal distortion, and typically, undistortion is not necessary.
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- `interleave_ae_mode` : Set laser or hdr interleave.
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- `interleave_frame_enable` : Whether to enable interleave frame mode.
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- `interleave_skip_enable` : Whether to enable skip frames.
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- `interleave_skip_index` : Set skip pattern IR or flood IR.
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- `[hdr|laser]_index[0|1]_[laser_control|depth_exposure|depth_gain|ir_brightness|ae_max_exposure]`:In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames
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Explanation of parameters.Reference:[Launch parameters documentation](./docs/launch_parameters.md)
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**IMPORTANT**: *Please carefully read the instructions regarding software filtering settings
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at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify
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these settings.*
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## All available service for camera control
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For the entire list of service `ros2 service list`.
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Explanation of service.Reference:[All available service fo camera control documentation](./docs/all_available_service_for_camera_control.md)
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## All available topics
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For the entire list of topic `ros2 topic list`.
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Explanation of topic.Reference:[All available topics documentation](./docs/all_available_topics.md)
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## Configuration of depth NFOV and WFOV modes
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For the Femto Mega and Femto Bolt devices setting NFOV and WFOV modes.Reference:[Configuration of depth NFOV and WFOV modes documentation](./docs/configuration_of_depth_NFOV_and_WFOV_modes.md)
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## Depth work mode switch
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Gemini 2, Gemini 2 L,and Femto and Femto Bolt cameras setting depth work mode.Reference:[Depth work mode switch documentation](./docs/depth_work_mode_switch.md)
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## Predefined presets
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About the mode settings of Predefined presets.Reference:[Predefined presets documentation](./docs/predefined_presets.md)
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## Efficient intra-process communication
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Our ROS2 Wrapper node supports zero-copy communications if loaded in the same process as a subscriber node. This can reduce copy times on image/pointcloud topics, especially with big frame resolutions and high FPS.Reference:[Efficient intra-process communication documentation](./docs/efficient_intra_process_communication.md)
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## Building a Debian Package
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If you want to build the Debian package of OrbbecSDK_ROS2.Reference:[Building a Debian Package documentation](./docs/building_a_Debian_Package.md)
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## Use V4L2 backend
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[Setting uvc_backend](./docs/launch_parameters.md)
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Note: The V4L2 backend is not enabled by default.
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## ROS2(Robot) vs Optical(Camera) Coordination Systems
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@@ -462,7 +381,7 @@ these settings.*
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* Imagine we are standing behind of the camera, and looking forward.
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* Always use this point of view when talking about coordinates, left vs right IRs, position of sensor, etc..
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* ROS2 Coordinate System: (X: Forward, Y:Left, Z: Up)
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* Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)
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@@ -471,9 +390,9 @@ these settings.*
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## Camera sensor structure
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## TF from coordinate A to coordinate B:
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@@ -489,200 +408,7 @@ Example of static TFs of RGB sensor and right infra sensor of Gemini335 module a
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ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
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```
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## Predefined presets
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| Preset | Features | Recommended use cases |
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| -------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| Default | - Best visual perception``- Overall good performance in accuracy, fill rate, tiny objects, etc. | - Generic `<br>`- Robotics |
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| Hand | - Clear hand and finger edges | - Gesture recognition |
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| High Accuracy | - Depth of high confidence `<br>`- Barely noise depth values `<br>`- Lower fill rate | - Collision avoidance `<br>`- Object scanning |
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| High Density | - Higher fill rate `<br>`- More tiny objects `<br>`- May suffer from noise depth values | - Object recognition `<br>`- Pick & place `<br>`- Foreground & background animation |
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| Medium Density | - Balanced performance in fill rate and accuracy `<br>`- In comparison to Default: lower fill rate, better edge quality | - Generic and alternative to Default |
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| Custom | - User defined Preset `<br>`- Derived from Presets above, with customized modifications, e.g. a new configuration for the post-processing pipeline, modified mean intensity set point of depth AE function, etc. | - Better depth performance achieved using customized configurations in comparison to using predefined presets `<br>`- For well-established custom configurations |
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Choose the appropriate preset name based on your specific use case and set it as the value for the `device_preset`
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parameter.
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## Depth work mode switch
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Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L,
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and Femto and Femto Bolt cameras.
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- Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py
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file's support.
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- The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras.
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- The default depth work mode configuration of xxx.launch.py is the camera's default configuration. If you need to
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modify it, you can switch to the corresponding mode as needed.
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- The specific camera depth work mode support types can be found in the comments of the depth mode.
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```python
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# Depth work mode support is as follows:
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# Unbinned Dense Default
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# Unbinned Sparse Default
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# Binned Sparse Default
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# Obstacle Avoidance
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DeclareLaunchArgument('depth_work_mode', default_value='')
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```
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- View depth work modes:
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```bash
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ros2 run orbbec_camera list_depth_work_mode_node
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```
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## Configuration of depth NFOV and WFOV modes
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For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of
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Depth and IR in the launch file.
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In launch file, depth_width、depth_height、ir_width、ir_height represents the resolution of the depth and the resolution of
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the IR.
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The frame fps and resolution of IR must be consistent with the depth. The correspondence between different modes and
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resolutions is as follows:
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- NFOV unbinned: 640 x 576.
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- NFOV binned: 320 x 288.
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- WFOV unbinned: 1024 x 1024.
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- WFOV binned: 512 x 512.
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## All available service for camera control
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The name of the following service already expresses its function.
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However, it should be noted that the corresponding `set_[ir|depth|color]*`
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and `get[ir|depth|color]*` **services are only available if you set** `enable[ir|depth|color]`
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to `true` in the stream that corresponds to the argument of the launch file.
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- `/camera/get_auto_white_balance`
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- `/camera/get_color_exposure`
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- `/camera/get_color_gain`
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- `/camera/get_depth_exposure`
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- `/camera/get_depth_gain`
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- `/camera/get_device_info`
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- `/camera/get_ir_exposure`
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- `/camera/get_ir_gain`
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- `/camera/get_ldp_status`
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- `/camera/get_sdk_version`
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- `/camera/get_white_balance`
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- `/camera/set_auto_white_balance`
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- `/camera/set_color_auto_exposure`
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- `/camera/set_color_exposure`
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- `/camera/set_color_gain`
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- `/camera/set_depth_auto_exposure`
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- `/camera/set_depth_exposure`
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- `/camera/set_depth_gain`
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- `/camera/set_fan_work_mode`
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- `/camera/set_floor_enable`
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- `/camera/set_ir_auto_exposure`
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- `/camera/set_ir_exposure`
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- `/camera/set_ir_gain`
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- `/camera/set_laser_enable`
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- `/camera/set_ldp_enable`
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- `/camera/set_white_balance`
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- `/camera/toggle_color`
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- `/camera/toggle_depth`
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- `/camera/toggle_ir`
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- `/camera/set_reset_timestamp`
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- `/camera/set_sync_interleaverlaser`
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- `/camera/set_sync_hosttime`
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## All available topics
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- `/camera/color/camera_info` : The color camera info.
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- `/camera/color/image_raw`: The color stream image.
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- `/camera/depth/camera_info`: The depth stream image.
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- `/camera/depth/image_raw`: The depth stream image
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- `/camera/depth/points` : The point cloud, only available when `enable_point_cloud` is `true`.
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- `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud`
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is `true`.
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- `/camera/ir/camera_info`: The IR camera info.
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- `/camera/ir/image_raw`: The IR stream image
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- `/camera/accel/sample`: Acceleration data stream `enable_sync_output_accel_gyro`turned off，`enable_accel`turned on
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- `/camera/gyro/sample`: Gyroscope data stream，enable_sync_output_accel_gyro `turned off，`enable_gyro`turned on
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- `camera/gyro_accel/sample`: Synchronized data stream of acceleration and gyroscope，`enable_sync_output_accel_gyro`
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turned on
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- `/diagnostics`: The diagnostic information of the camera, Currently, the diagnostic information only includes the
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temperature of the camera.
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## Network device enumeration
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Currently, the network device enumeration function is supported only by the Femto Mega device. When accessing this
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device over the network, if `enumerate_net_device` is set to `true`, the device will be automatically enumerated,
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eliminating the need to configure the IP address in advance or set the enable switch to true. The specific configuration
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methods are as follows:
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- `enumerate_net_device`: enumeration network device automatically, only supported by Femto Mega.
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if `enumerate_net_device` set to `true`, the device will be enumerated automatically,No need to set
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the `net_device_ip`
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and `net_device_port` parameters.
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- `net_device_ip`: The IP address of the device.
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- `net_device_port`: The port number of the device.
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## Multi-Camera
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- To get the `usb_port` of the camera, plug in the camera and run the following command in the terminal:
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```bash
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ros2 run orbbec_camera list_devices_node
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```
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- Set the `device_num` parameter to the number of cameras you have.
|
||||
- Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.py` file and change the `usb_port`.
|
||||
- Don't forget to put the `include` tag inside the `group` tag.
|
||||
Otherwise, the parameter values of different cameras may become contaminated.
|
||||
|
||||
```python
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch_ros.actions import Node
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
import os
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
# Include launch files
|
||||
package_dir = get_package_share_directory('orbbec_camera')
|
||||
launch_file_dir = os.path.join(package_dir, 'launch')
|
||||
launch1_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'gemini2L.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_name': 'camera_01',
|
||||
'usb_port': '6-2.4.4.2', # replace your usb port here
|
||||
'device_num': '2'
|
||||
}.items()
|
||||
)
|
||||
|
||||
launch2_include = IncludeLaunchDescription(
|
||||
PythonLaunchDescriptionSource(
|
||||
os.path.join(launch_file_dir, 'gemini2L.launch.py')
|
||||
),
|
||||
launch_arguments={
|
||||
'camera_name': 'camera_02',
|
||||
'usb_port': '6-2.4.1', # replace your usb port here
|
||||
'device_num': '2'
|
||||
}.items()
|
||||
)
|
||||
|
||||
# If you need more cameras, just add more launch_include here, and change the usb_port and device_num
|
||||
|
||||
# Launch description
|
||||
ld = LaunchDescription([
|
||||
GroupAction([launch1_include]),
|
||||
GroupAction([launch2_include]),
|
||||
])
|
||||
|
||||
return ld
|
||||
|
||||
```
|
||||
|
||||
- To launch the cameras, run the following command:
|
||||
|
||||
```bash
|
||||
ros2 launch orbbec_camera multi_camera.launch.py
|
||||
```
|
||||
|
||||
|
||||
## Compressed Image
|
||||
|
||||
@@ -696,71 +422,12 @@ ros2 topic echo /camera/color/image_raw/compressed --no-arr
|
||||
|
||||
This command will allow you to receive the compressed color image from the specified topic.
|
||||
|
||||
## Use hardware decoder to decode JPEG
|
||||
|
||||
### rockchip and Amlogic
|
||||
|
||||
Depends on `rockchip-mpp-dev` and `rockchip-rga-dev`, not all systems have these two packages, the names may be
|
||||
different, please search by yourself.
|
||||
Open `CMakeLists.txt` and set `USE_RK_HW_DECODER` to `ON`.
|
||||
|
||||
### Nvidia Jetson
|
||||
|
||||
Depends on: `jetson_multimedia_api`,`libyuv`.
|
||||
Open `CMakeLists.txt` and set `USE_NV_HW_DECODER` to `ON`.
|
||||
|
||||
## Check which profiles the camera supports
|
||||
|
||||
```bash
|
||||
ros2 run orbbec_camera list_camera_profile_mode_node
|
||||
```
|
||||
|
||||
## Building a Debian Package
|
||||
|
||||
### Preparing the Environment
|
||||
|
||||
Before starting, install the required tools:
|
||||
|
||||
```bash
|
||||
sudo apt install debhelper fakeroot python3-bloom
|
||||
```
|
||||
|
||||
### Configuring ROS Dependencies
|
||||
|
||||
Add the following YAML file to your system at `/etc/ros/rosdep/sources.list.d/00-orbbec.yaml`. Make sure to
|
||||
replace `focal` with the codename of your Ubuntu version and `humble` with your ROS2 distribution name:
|
||||
|
||||
```yaml
|
||||
orbbec_camera_msgs:
|
||||
ubuntu:
|
||||
focal: [ ros-humble-orbbec-camera-msgs ]
|
||||
```
|
||||
|
||||
Next, create a new file `/etc/ros/rosdep/sources.list.d/50-orbbec.list` and add this line to specify the path to the
|
||||
YAML file:
|
||||
|
||||
```bash
|
||||
yaml file:///etc/ros/rosdep/sources.list.d/00-orbbec.yaml
|
||||
```
|
||||
|
||||
Update the rosdep database to reflect these changes:
|
||||
|
||||
```bash
|
||||
rosdep update
|
||||
```
|
||||
|
||||
### Building the Package
|
||||
|
||||
Navigate to your workspace and build the project:
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws/
|
||||
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
|
||||
. install/setup.bash
|
||||
cd src/OrbbecSDK_ROS2/
|
||||
bash .make_deb.sh
|
||||
```
|
||||
|
||||
## Supported Devices
|
||||
|
||||
Currently, the following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the [main](https://github.com/orbbec/OrbbecSDK_ROS2) branch.
|
||||
|
||||
Reference in New Issue
Block a user