docs: update README files to clarify ROS 2 installation instructions and parameter names

2026-10-04 20:17:47 +08:00 · 2026-08-03 09:55:48 +08:00
parent 1469a0a121
commit e967d85067
3 changed files with 33 additions and 19 deletions
@@ -226,9 +226,17 @@ If you need to migrate existing projects from the main (v1.x) branch to the v2-m

 **Environment configuration**

-Install ROS 2 according to the official guide:
+Install one of the supported ROS 2 distributions according to its official guide:

-* [ROS 2 installation (Ubuntu)](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+* [Foxy](https://docs.ros.org/en/foxy/)
+* [Humble](https://docs.ros.org/en/humble/)
+* [Jazzy](https://docs.ros.org/en/jazzy/)
+
+Source the ROS 2 environment before running the commands below:
+
+```bash
+source /opt/ros/humble/setup.bash  # Replace humble with foxy or jazzy as needed
+```

 Install dependencies:

@@ -256,10 +264,10 @@ sudo apt update
 apt list | grep orbbec
 ```

-Install OrbbecSDK ROS2 package:
+If binary packages are available for your ROS 2 distribution, install the OrbbecSDK ROS2 packages with:

 ```bash
-sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description
+sudo apt install ros-${ROS_DISTRO}-orbbec-camera ros-${ROS_DISTRO}-orbbec-description
 ```

 After installation, you can use it directly without compilation.
@@ -304,12 +312,11 @@ sudo udevadm control --reload-rules && sudo udevadm trigger
 ```bash
 cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
 sudo bash install_udev_rules.sh
-sudo udevadm control --reload-rules && sudo udevadm trigger
 ```

 This step is **mandatory** for Linux users.

-`Notes:` If this script is not executed, open the device will fail due to permission issues. You need to run the sample with sudo (administrator privileges).
+> **Note:** Without the udev rules, the device may fail to open because of insufficient permissions. Install the rules and reconnect the camera instead of running ROS 2 nodes with `sudo`.

 ## Getting start

@@ -356,7 +363,7 @@ For more usage details, please refer to the official [OrbbecSDK ROS2 documentati

 ## 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.
+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/tree/main) branch.

 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.

@@ -225,9 +225,17 @@ OrbbecSDK ROS2 Wrapper 提供 Orbbec 相机与 ROS 2 环境的无缝集成，支

 **环境配置**

-根据官方指南安装 ROS 2：
+根据相应的官方指南安装一个受支持的 ROS 2 发行版：

-* [ROS 2 安装指南（Ubuntu）](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+* [Foxy](https://docs.ros.org/en/foxy/)
+* [Humble](https://docs.ros.org/en/humble/)
+* [Jazzy](https://docs.ros.org/en/jazzy/)
+
+执行后续命令前，请先加载 ROS 2 环境：
+
+```bash
+source /opt/ros/humble/setup.bash  # 根据需要将 humble 替换为 foxy 或 jazzy
+```

 安装依赖项：

@@ -255,10 +263,10 @@ sudo apt update
 apt list | grep orbbec
 ```

-安装 OrbbecSDK ROS2 包：
+如果当前 ROS 2 发行版提供二进制包，可使用以下命令安装 OrbbecSDK ROS2：

 ```bash
-sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description
+sudo apt install ros-${ROS_DISTRO}-orbbec-camera ros-${ROS_DISTRO}-orbbec-description
 ```

 安装完成后，直接使用即可，无需编译。
@@ -302,12 +310,11 @@ sudo udevadm control --reload-rules && sudo udevadm trigger
 ```bash
 cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
 sudo bash install_udev_rules.sh
-sudo udevadm control --reload-rules && sudo udevadm trigger
 ```

 此步骤对于 Linux 用户是**必需的**。

-`注意：` 如果不执行此脚本，由于权限问题，打开设备将会失败。您需要使用 sudo（管理员权限）运行示例程序。
+> **注意：** 如果未安装 udev 规则，可能因权限不足而无法打开设备。请正确安装规则并重新插拔相机，不建议使用 `sudo` 运行 ROS 2 节点。

 ## 快速开始

@@ -354,7 +361,7 @@ ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'

 ## 支持的设备

-目前 v2-main 分支支持以下设备。更多设备支持将陆续增加。如果没有找到您的设备，请尝试 [main](https://github.com/orbbec/OrbbecSDK_ROS2) 分支。
+目前 v2-main 分支支持以下设备。更多设备支持将陆续增加。如果没有找到您的设备，请尝试 [main](https://github.com/orbbec/OrbbecSDK_ROS2/tree/main) 分支。

 为获得最佳性能，强烈建议更新至最新固件版本，以确保您能获得最新的改进和 bug 修复。

@@ -91,7 +91,7 @@ The master switch for camera streams allows enabling or disabling all streams du
 - **Get streams status**

  ```bash
-  ros2 service call /camera/get_streams_enable std_srvs/srv/GetBool '{}'
+  ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
  ```

 ### 2.3 Device Info
@@ -148,11 +148,11 @@ A new parameter **time_sync_period** is introduced to configure the time synchro

 ---

-### 3.3 Added `camera_info_url` and `ir_info_url`
+### 3.3 Added `color_info_url` and `ir_info_url`

 Support specifying calibration file paths through parameters to load external camera intrinsic and extrinsic configurations:

-* **camera\_info\_url**: Path to the color camera calibration file
+* **color\_info\_url**: Path to the color camera calibration file
 * **ir\_info\_url**: Path to the IR camera calibration file

 > Note: This method does not write the file information to the device.
@@ -162,8 +162,8 @@ Support specifying calibration file paths through parameters to load external ca
 Specify the path in the launch file or when launching:

 ```launch
-DeclareLaunchArgument('ir_info_url', default_value='file:///home/user/calibration/color.yaml'),
-DeclareLaunchArgument('color_info_url', default_value='file:///home/user/calibration/ir.yaml'),
+DeclareLaunchArgument('ir_info_url', default_value='file:///home/user/calibration/ir.yaml'),
+DeclareLaunchArgument('color_info_url', default_value='file:///home/user/calibration/color.yaml'),
 ```

 #### Calibration File Example (YAML Format)