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Joe Dong
2024-03-05 14:40:12 +08:00
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README.MD
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# orbbec_camera
[![stable](http://badges.github.io/stability-badges/dist/stable.svg)](http://github.com/badges/stability-badges) ![version](https://img.shields.io/badge/version-1.4.6-green)
---
OrbbecSDK ROS2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS2 environment. It
@@ -141,6 +142,7 @@ ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool "{data: true}"
ros2 service call /camera/toggle_ir std_srvs/srv/SetBool "{data : true}"
```
- save point cloud
```bash
@@ -199,6 +201,19 @@ to `true` in the stream that corresponds to the argument of the launch file.
- `/camera/gyro/sample`: Gyroscope data stream，enable_sync_output_accel_gyro`turned off，`enable_gyro`turned on
- `camera/gyro_accel/sample`: Synchronized data stream of acceleration and gyroscope，`enable_sync_output_accel_gyro`turned on
### Network device enumeration
Currently, the network device enumeration function is supported only by the Femto Mega device. When accessing this
device over the network, if `enumerate_net_device` is set to `true`, the device will be automatically enumerated,
eliminating the need to configure the IP address in advance or set the enable switch to true. The specific configuration
methods are as follows:
- `enumerate_net_device`: enumeration network device automatically, only supported by Femto Mega.
if `enumerate_net_device` set to `true`, the device will be enumerated automatically,No need to set the `net_device_ip`
and `net_device_port` parameters.
- `net_device_ip`: The IP address of the device.
- `net_device_port`: The port number of the device.
### Multi-Camera
- To get the `usb_port` of the camera, plug in the camera and run the following command in the terminal:
@@ -338,23 +353,29 @@ The following are the launch parameters available:
- `gyro_range` : The range of the gyroscope, the optional values
are `16dps`,`31dps`,`62dps`,`125dps`,`250dps`,`500dps`,`1000dps`,`2000dps`. The specific value depends on the current
camera.
- `enumerate_net_device` : Whether to enable the function of enumerating network devices. True means enabled, false means disabled.
This feature is only supported by Femto Mega and Gemini 2 XL devices. When accessing these devices through the network, the IP address of the device needs to be configured in advance. The enable switch needs to be set to true.
- `depth_filter_config` : Configure the loading path for the depth filtering configuration file. By default, the depth filtering configuration file is located in the /config/depthfilter directory,Supported only on Gemini2.
- `enumerate_net_device` : Whether to enable the function of enumerating network devices. True means enabled, false
means disabled.
This feature is only supported by Femto Mega and Gemini 2 XL devices. When accessing these devices through the
network, the IP address of the device needs to be configured in advance. The enable switch needs to be set to true.
- `depth_filter_config` : Configure the loading path for the depth filtering configuration file. By default, the depth
filtering configuration file is located in the /config/depthfilter directory,Supported only on Gemini2.
## Depth work mode switch
- Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py file's support.
- Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py
file's support.
- The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras.
- The default depth work mode configuration of xxx.launch.py is the camera's default configuration. If you need to modify it, you can switch to the corresponding mode as needed.
- The default depth work mode configuration of xxx.launch.py is the camera's default configuration. If you need to
modify it, you can switch to the corresponding mode as needed.
- The specific camera depth work mode support types can be found in the comments of the depth mode.
```python
# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument('depth_work_mode', default_value='')
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument('depth_work_mode', default_value='')
```
- View depth work modes:
@@ -364,9 +385,14 @@ ros2 run orbbec_camera list_depth_work_mode_node
```
## Configuration of depth NFOV and WFOV modes
For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of Depth and IR in the launch file.
In launch file, depth_width、depth_height、ir_width、ir_height represents the resolution of the depth and the resolution of the IR.
The frame fps and resolution of IR must be consistent with the depth. The correspondence between different modes and resolutions is as follows:
For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of
Depth and IR in the launch file.
In launch file, depth_width、depth_height、ir_width、ir_height represents the resolution of the depth and the resolution of
the IR.
The frame fps and resolution of IR must be consistent with the depth. The correspondence between different modes and
resolutions is as follows:
- NFOV unbinned: 640 x 576.
- NFOV binned: 320 x 288.
- WFOV unbinned: 1024 x 1024.
@@ -380,36 +406,36 @@ The frame fps and resolution of IR must be consistent with the depth. The corres
## Launch files
| product serials | launch file |
|----------------------------------------------|-------------------------|
| astra+ | astra_adv.launch.py |
| astra mini /astra mini pro /astra pro | astra.launch.py |
| astra mini pro s | astra.launch.py |
| astra2 | astra2.launch.py |
| astra stereo s | stereo_s_u3.launch.py |
| astra pro2 | astra_pro2.launch.py |
| dabai | dabai.launch.py |
| dabai d1 | dabai_d1.launch.py |
| dabai dcw | dabai_dcw.launch.py |
| dabai dw | dabai_dw.launch.py |
| dabai pro | dabai_pro.launch.py |
| deeya | deeya.launch.py |
| femto /femto w | femto.launch.py |
| femto mega | femto_mega.launch.py |
| femto bolt | femto_bolt.launch.py |
| gemini | gemini.launch.py |
| gemini | gemini.launch.py |
| gemini2 / dabai DCL | gemini2.launch.py |
| gemini2L | gemini2L.launch.py |
| gemini e | gemini_e.launch.py |
| gemini e lite | gemini_e_lite.launch.py |
| dabai max | dabai_max.launch.py |
| dabai max pro | dabai_max_pro.launch.py |
| gemini uw | gemini_uw.launch.py |
| dabai dcw2 | dabai_dcw2.launch.py |
| dabai dw2 | dabai_dw2.launch.py |
| gemini ew | gemini_ew.launch.py |
| gemini ew lite | gemini_ew_lite.launch.py|
| product serials | launch file |
|---------------------------------------|--------------------------|
| astra+ | astra_adv.launch.py |
| astra mini /astra mini pro /astra pro | astra.launch.py |
| astra mini pro s | astra.launch.py |
| astra2 | astra2.launch.py |
| astra stereo s | stereo_s_u3.launch.py |
| astra pro2 | astra_pro2.launch.py |
| dabai | dabai.launch.py |
| dabai d1 | dabai_d1.launch.py |
| dabai dcw | dabai_dcw.launch.py |
| dabai dw | dabai_dw.launch.py |
| dabai pro | dabai_pro.launch.py |
| deeya | deeya.launch.py |
| femto /femto w | femto.launch.py |
| femto mega | femto_mega.launch.py |
| femto bolt | femto_bolt.launch.py |
| gemini | gemini.launch.py |
| gemini | gemini.launch.py |
| gemini2 / dabai DCL | gemini2.launch.py |
| gemini2L | gemini2L.launch.py |
| gemini e | gemini_e.launch.py |
| gemini e lite | gemini_e_lite.launch.py |
| dabai max | dabai_max.launch.py |
| dabai max pro | dabai_max_pro.launch.py |
| gemini uw | gemini_uw.launch.py |
| dabai dcw2 | dabai_dcw2.launch.py |
| dabai dw2 | dabai_dw2.launch.py |
| gemini ew | gemini_ew.launch.py |
| gemini ew lite | gemini_ew_lite.launch.py |
Actually, All launch files all most the same, the only difference is the default value of the parameters.
orbbec_camera/launch/femto_mega.launch.py
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DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
DeclareLaunchArgument('ir_info_url', default_value=''),
DeclareLaunchArgument('color_info_url', default_value=''),
# Network device settings: default net_device_ip is 192.168.1.10 and net_device_port is 8090
# If you don't want to use ip addr and port, set enumerate_net_device to true
# and leave net_device_ip blank , it can enumerate automate
DeclareLaunchArgument('enumerate_net_device', default_value='false'),
DeclareLaunchArgument('net_device_ip', default_value=''),
DeclareLaunchArgument('net_device_port', default_value='0'),