i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

deploy: af67d4599f

Browse Source
This commit is contained in:
ob-yalian
2026-01-07 06:53:14 +00:00
parent 3a50d4eaef
commit eccf538f6d
114 changed files with 282 additions and 203 deletions
Download Patch File Download Diff File Expand all files Collapse all files
en/_sources/source/camera_devices/1_overview/introduction.md.txt
+26 -13
View File
@@ -129,6 +129,17 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
<td>full maintenance</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">LiDAR</td>
<td>Pulsar ME450</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Pulsar SL450</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
</tbody>
</table>
@@ -150,20 +161,22 @@ For optimal performance, we strongly recommend updating to the latest firmware v
To learn how to obtain and upgrade the latest firmware, [please click here](../3_quickstarts/orbbecviewer.md).
| **Products List** | **Recommended FW Version** | **Launch File** |
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------------------------- |
| Astra Mini Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro) | astra.launch.py |
| Astra Mini S Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro) | astra.launch.py |
| Gemini 435Le | [1.3.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | gemini435_le.launch.py |
| **Products List** | **Recommended FW Version** | Launch File |
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------- |
| Astra Mini Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro) | astra.launch.py |
| Astra Mini S Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro) | astra.launch.py |
| Gemini 435Le | [1.3.6](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | gemini435_le.launch.py |
| Gemini 330 series | [1.6.00](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip) | gemini_330_series.launch.py |
| Gemini 215 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | gemini210.launch.py |
| Gemini 210 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | gemini210.launch.py |
| Gemini 2 | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | gemini2.launch.py |
| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
| Femto Mega | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | femto_mega.launch.py |
| Femto Mega I | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | femto_mega.launch.py |
| Astra 2 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip) | astra2.launch.py |
| Gemini 215 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | gemini210.launch.py |
| Gemini 210 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | gemini210.launch.py |
| Gemini 2 | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | gemini2.launch.py |
| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
| Femto Mega | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | femto_mega.launch.py |
| Femto Mega I | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | femto_mega.launch.py |
| Astra 2 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip) | astra2.launch.py |
| Pulsar SL450 | 2.2.4.5 | lidar.launch.py |
| Pulsar ME450 | 1.0.0.6 | lidar.launch.py |
All launch files are essentially similar, with the primary difference being the default values of the parameters set
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.
en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
+9 -6
View File
@@ -14,6 +14,11 @@ The following are the launch parameters available:
* The USB port of the camera. This is required when multiple cameras are used.
* **`device_num`**
* The number of devices. This must be filled in if multiple cameras are required.
* **`device_preset`**
* The default value is `Default`. You can use the following command to view the configurable mode
```bash
ros2 run orbbec_camera list_camera_profile_mode_node
```
* **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
* The resolution and frame rate of the sensor stream.
* **`[color|depth|left_ir|right_ir|ir]_rotation`**
@@ -42,9 +47,7 @@ The following are the launch parameters available:
* **`right_ir.image_raw.enable_pub_plugins`**
* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
* **`point_cloud_decimation_filter_factor`**
* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling; larger values apply stronger decimation.
* **`preset_resolution_config`**
* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on specific devices like Gemini2. Leave empty to disable.
* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
### Sensor Controls
@@ -85,7 +88,7 @@ The following are the launch parameters available:
* Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
* **`enable_depth_scale`**
* Enable the depth scale.
* Whether to enable depth scaling after setting D2C. `true` means enabled, the default is `true`.
* **`depth_precision`**
* The depth precision should be in the format `1mm`. The default value is `1mm`.
* **`depth_ae_roi_[left|right|top|bottom]`**
@@ -152,8 +155,8 @@ The following are the launch parameters available:
> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
#### Device-Specific
* **`device_preset`**
* The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/configuration/predefined_presets.md).
* **`preset_resolution_config`**
* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on 435Le. Leave empty to disable.
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
en/_sources/source/lidar_devices/lidar.md.txt
+2 -2
View File
@@ -59,11 +59,11 @@ rviz2
* `PointCloud2` visualization example:
![module in rviz2](./docs/images/lidar0.jpg)
![module in rviz2](./image/lidar0.jpg)
* `LaserScan` visualization example:
![module in rviz2](./docs/images/lidar1.png)
![module in rviz2](./image/lidar1.png)
## Usage