From e967d85067e2261f6f55e043f40a6574d74793d2 Mon Sep 17 00:00:00 2001 From: slz Date: Mon, 3 Aug 2026 09:55:48 +0800 Subject: [PATCH] docs: update README files to clarify ROS 2 installation instructions and parameter names --- README.MD | 21 ++++++++++++------- README_CN.MD | 21 ++++++++++++------- .../Gemini_435Le_example_node/README.MD | 10 ++++----- 3 files changed, 33 insertions(+), 19 deletions(-) diff --git a/README.MD b/README.MD index 986b68e2..d49298c6 100644 --- a/README.MD +++ b/README.MD @@ -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. diff --git a/README_CN.MD b/README_CN.MD index 3bfd3190..954747cf 100644 --- a/README_CN.MD +++ b/README_CN.MD @@ -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。 diff --git a/orbbec_camera/examples/Gemini_435Le_example_node/README.MD b/orbbec_camera/examples/Gemini_435Le_example_node/README.MD index 2482ca7e..b08c9c8f 100644 --- a/orbbec_camera/examples/Gemini_435Le_example_node/README.MD +++ b/orbbec_camera/examples/Gemini_435Le_example_node/README.MD @@ -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)