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Update README.MD
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jj
@@ -133,26 +133,30 @@ The following instructions are only applicable to traditional launch files. If y
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- [OrbbecSDK ROS2 Wrapper v2](#orbbecsdk-ros2-wrapper-v2)
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- [Table of Contents](#table-of-contents)
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- [Installation Instructions](#installation-instructions)
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- [Getting start](#getting-start)
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- [Network device enumeration](#network-device-enumeration)
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- [Multi-Camera](#multi-camera)
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- [Launch parameters](#launch-parameters)
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- [All available service for camera control](#all-available-service-for-camera-control)
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- [All available topics](#all-available-topics)
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- [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes)
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- [Depth work mode switch](#depth-work-mode-switch)
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- [Predefined presets](#predefined-presets)
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- [Efficient intra-process communication](#efficient-intra-process-communication)
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- [Building a Debian Package](#building-a-debian-package)
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- [Use V4L2 backend](#use-v4l2-backend)
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- [Examples](#examples)
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- [ROS2(Robot) vs Optical(Camera) Coordination Systems](#ros2robot-vs-opticalcamera-coordination-systems)
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- [Camera sensor structure](#camera-sensor-structure)
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- [TF from coordinate A to coordinate B](#tf-from-coordinate-a-to-coordinate-b)
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- [Compressed Image](#compressed-image)
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- [Check which profiles the camera supports](#check-which-profiles-the-camera-supports)
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- [Supported Devices](#supported-devices)
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- [DDS Tuning](#dds-tuning)
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- [Getting start](#getting-start)
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- [Usage](#usage)
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- [Network device enumeration](#network-device-enumeration)
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- [GMSL device enumeration](#network-device-enumeration)
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- [Multi-Camera](#multi-camera)
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- [Launch parameters](#launch-parameters)
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- [All available service for camera control](#all-available-service-for-camera-control)
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- [All available topics](#all-available-topics)
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- [Check which profiles the camera supports](#check-which-profiles-the-camera-supports)
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- [Predefined presets](#predefined-presets)
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- [Optional depth presets](#optional-depth-presets)
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- [Depth work mode switch](#depth-work-mode-switch)
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- [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes)
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- [Advanced Usage](#advanced-usage)
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- [Use V4L2 backend](#use-v4l2-backend)
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- [DDS Tuning](#dds-tuning)
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- [Efficient intra-process communication](#efficient-intra-process-communication)
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- [ROS2(Robot) vs Optical(Camera) Coordination Systems](#ros2robot-vs-opticalcamera-coordination-systems)
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- [Camera sensor structure](#camera-sensor-structure)
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- [TF from coordinate A to coordinate B](#tf-from-coordinate-a-to-coordinate-b)
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- [Compressed Image](#compressed-image)
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- [Building a Debian Package](#building-a-debian-package)
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- [Examples](#examples)
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- [Frequently Asked Questions](#frequently-asked-questions)
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- [Unexpected Crash](#unexpected-crash)
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- [No Data Stream from Multiple Cameras](#no-data-stream-from-multiple-cameras)
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@@ -211,6 +215,30 @@ sudo bash install_udev_rules.sh
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sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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## Supported Devices
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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.
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For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
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| Product List | Minimal Firmware Version | **Launch File** |
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| :----------- | :----------------------- | :-------------------------- |
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| Gemini 330 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 330L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
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| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
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| Femto Bolt | 1.1.2 | femto_bolt.launch.py |
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| Femto Mega | 1.3.0 | femto_mega.launch.py |
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| Astra 2 | 2.8.20 | astra2.launch.py |
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| Gemini 2 L | 1.4.53 | gemini2L.launch.py |
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| Gemini 2 | 1.4.92 | gemini2.launch.py |
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All launch files are essentially similar, with the primary difference being the default values of the parameters set
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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.
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## Getting start
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```bash
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@@ -309,22 +337,32 @@ 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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## Network device enumeration
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## Usage
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When using Femto_Mega, you can use the network to connect the device.
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### Network device enumeration
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When using Femto_Mega and Gemini 335Le, you can use the network to connect the device.
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For more information about network device enumeration.Reference:[Network device documentation](./docs/network_device_enumeration.md)
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## Multi-Camera
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### GMSL device enumeration
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### Multi-Camera
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When you have multiple cameras, you can activate all of them at the same time.
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For more information about Multi camera.Reference:[Multi camera documentation](./orbbec_camera/examples/multi_camera/multi_camera.MD)
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## Launch parameters
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### Launch parameters
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For the entire list of parameters type `ros2 param list`.
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Modify parameters when launching launch:
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py color_width:=640 color_height:=480
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```
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* `color_width`, `color_height`, `color_fps`,`color_format`: The resolution and frame rate of the color stream
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* `enable_color_auto_exposure_priority` : Enables the Color auto exposure priority
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* `enable_color_auto_exposure` : Enables the Color auto exposure
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@@ -338,7 +376,7 @@ For the entire list of parameters type `ros2 param list`.
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Explanation of parameters.Reference:[Launch parameters documentation](./docs/launch_parameters.md)
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## All available service for camera control
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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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@@ -364,7 +402,7 @@ ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'
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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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### All available topics
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For the entire list of topic `ros2 topic list`.
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@@ -377,120 +415,41 @@ 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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## Examples
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* [Start_camera_node](./orbbec_camera/examples/start_camera_node)
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* [Align_depth_color](./orbbec_camera/examples/align_depth_color)
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* [Point_cloud](./orbbec_camera/examples/point_cloud)
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[......](./orbbec_camera/examples)
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Explanation of examples.Reference:[All available topics documentation](./orbbec_camera/examples)
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## ROS2(Robot) vs Optical(Camera) Coordination Systems
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* Point Of View:
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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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* All data published in our wrapper topics is optical data taken directly from our camera sensors.
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* static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.
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## Camera sensor structure
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## TF from coordinate A to coordinate B:
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In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
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Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
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Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
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Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
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```bash
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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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## Compressed Image
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You can use `image_transport` to compress the image using `jpeg`. Below is an example of how to use it:
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To access the compressed color image, you can use the following command:
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```bash
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ros2 topic echo /camera/color/image_raw/compressed --no-arr
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```
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This command will allow you to receive the compressed color image from the specified topic.
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## Check which profiles the camera supports
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### Check which profiles the camera supports
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```bash
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ros2 run orbbec_camera list_camera_profile_mode_node
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```
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## Supported Devices
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### Predefined presets
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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.
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About the mode settings of Predefined presets.Reference:[Predefined presets documentation](./docs/predefined_presets.md)
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For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
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#### Optional depth presets
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| Product List | Minimal Firmware Version | **Launch File** |
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| :----------- | :----------------------- | :-------------------------- |
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| Gemini 330 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 330L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
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| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
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| Femto Bolt | 1.1.2 | femto_bolt.launch.py |
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| Femto Mega | 1.3.0 | femto_mega.launch.py |
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| Astra 2 | 2.8.20 | astra2.launch.py |
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| Gemini 2 L | 1.4.53 | gemini2L.launch.py |
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| Gemini 2 | 1.4.92 | gemini2.launch.py |
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> You can pass the firmware path of the Optional preset into the `preset_firmware_path` launch param
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All launch files are essentially similar, with the primary difference being the default values of the parameters set
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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.
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py preset_firmware_path:=/home/orbbec/G336X_Dimensioning_Accurate_0.0.1_78C743B9.bin,/home/orbbec/G336X_Dimensioning_Dense_0.0.1_4E70D227.bin device_preset:=G336X Dimensioning Dense
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```
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## DDS Tuning
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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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### 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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## Advanced Usage
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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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### DDS Tuning
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The default DDS settings (Galactic) may not be optimal for data transmission. Different DDS settings can have varying
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performance. In this example, we use CycloneDDS. For more detailed information, please refer to the
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@@ -553,6 +512,65 @@ net.core.rmem_default=2147483647
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If you use Fast DDS, you can refer to the [Fast DDS Configuration](./docs/fastdds_tuning.md) file.
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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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### ROS2(Robot) vs Optical(Camera) Coordination Systems
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* Point Of View:
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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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* All data published in our wrapper topics is optical data taken directly from our camera sensors.
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* static and dynamic TF topics publish optical CS and ROS CS to give the user the ability to move from one CS to other CS.
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### Camera sensor structure
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### TF from coordinate A to coordinate B:
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In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position
|
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|
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Our wrapper provide static TFs between each sensor coordinate to the camera base (camera_link)
|
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|
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Also, it provides TFs from each sensor ROS coordinates to its corrosponding optical coordinates.
|
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|
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Example of static TFs of RGB sensor and right infra sensor of Gemini335 module as it shown in rviz2:
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```bash
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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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### Compressed Image
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You can use `image_transport` to compress the image using `jpeg`. Below is an example of how to use it:
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To access the compressed color image, you can use the following command:
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```bash
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ros2 topic echo /camera/color/image_raw/compressed --no-arr
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```
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This command will allow you to receive the compressed color image from the specified topic.
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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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## Examples
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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.
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## Frequently Asked Questions
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||||
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||||
### Unexpected Crash
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||||
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||||
Reference in New Issue
Block a user