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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>3.1. ROS 包快速入门 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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@@ -16,9 +16,9 @@
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@@ -132,7 +132,7 @@
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,9 +402,9 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros">
<h1><span class="section-number">3.1. </span>ROS 包快速入门<a class="headerlink" href="#ros" title="Link to this heading"></a></h1>
<h1><span class="section-number">3.1. </span>ROS 包快速入门<a class="headerlink" href="#ros" title="链接到此标题。"></a></h1>
<section id="id1">
<h2><span class="section-number">3.1.1. </span>简介<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<h2><span class="section-number">3.1.1. </span>简介<a class="headerlink" href="#id1" title="链接到此标题。"></a></h2>
<p>本节提供 Orbbec ROS 2 包装器的快速入门指南。
您将学习如何：</p>
<ul class="simple">
@@ -415,9 +415,9 @@
</section>
<hr class="docutils" />
<section id="id2">
<h2><span class="section-number">3.1.2. </span>构建您的第一个相机应用<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<h2><span class="section-number">3.1.2. </span>构建您的第一个相机应用<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
<section id="ros-2">
<h3><span class="section-number">3.1.2.1. </span>步骤 1：配置 ROS 2 和工作空间环境<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h3>
<h3><span class="section-number">3.1.2.1. </span>步骤 1：配置 ROS 2 和工作空间环境<a class="headerlink" href="#ros-2" title="链接到此标题。"></a></h3>
<p>确保已配置 ROS 2 和工作空间环境：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/setup.bash
</pre></div>
@@ -428,7 +428,7 @@
</div>
</section>
<section id="id3">
<h3><span class="section-number">3.1.2.2. </span>步骤 2：启动相机节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
<h3><span class="section-number">3.1.2.2. </span>步骤 2：启动相机节点<a class="headerlink" href="#id3" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p>在终端 1 中</p></li>
</ul>
@@ -443,7 +443,7 @@ ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span cla
</div>
</section>
<section id="rviz2">
<h3><span class="section-number">3.1.2.3. </span>步骤 3：在 RViz2 中可视化<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
<h3><span class="section-number">3.1.2.3. </span>步骤 3：在 RViz2 中可视化<a class="headerlink" href="#rviz2" title="链接到此标题。"></a></h3>
<p>启动 RViz2 并加载默认配置：</p>
<ul class="simple">
<li><p>在终端 2 中</p></li>
@@ -461,10 +461,10 @@ ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span cla
</section>
<hr class="docutils" />
<section id="id4">
<h2><span class="section-number">3.1.3. </span>示例功能<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
<h2><span class="section-number">3.1.3. </span>示例功能<a class="headerlink" href="#id4" title="链接到此标题。"></a></h2>
<p>节点运行后，尝试一些 ROS 2 CLI 命令：</p>
<section id="id5">
<h3><span class="section-number">3.1.3.1. </span>列出可用的话题/服务/参数<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<h3><span class="section-number">3.1.3.1. </span>列出可用的话题/服务/参数<a class="headerlink" href="#id5" title="链接到此标题。"></a></h3>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span>list
ros2<span class="w"> </span>service<span class="w"> </span>list
ros2<span class="w"> </span>param<span class="w"> </span>list
@@ -472,21 +472,21 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
</div>
</section>
<section id="id6">
<h3><span class="section-number">3.1.3.2. </span>回显话题<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<h3><span class="section-number">3.1.3.2. </span>回显话题<a class="headerlink" href="#id6" title="链接到此标题。"></a></h3>
<p>查看深度相机数据：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/depth/camera_info
</pre></div>
</div>
</section>
<section id="id7">
<h3><span class="section-number">3.1.3.3. </span>调用服务<a class="headerlink" href="#id7" title="Link to this heading"></a></h3>
<h3><span class="section-number">3.1.3.3. </span>调用服务<a class="headerlink" href="#id7" title="链接到此标题。"></a></h3>
<p>例如，获取设备信息：</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
</section>
<section id="rosbag2">
<h3><span class="section-number">3.1.3.4. </span>使用 rosbag2 录制<a class="headerlink" href="#rosbag2" title="Link to this heading"></a></h3>
<h3><span class="section-number">3.1.3.4. </span>使用 rosbag2 录制<a class="headerlink" href="#rosbag2" title="链接到此标题。"></a></h3>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>bag<span class="w"> </span>record<span class="w"> </span>/camera/color/image_raw<span class="w"> </span>/camera/depth/image_raw
</pre></div>
</div>
@@ -506,7 +506,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年01月07日 06:53:11.
<span class="lastupdated">最后更新于 2026年01月13日 02:41:42.
</span></p>
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