OrbbecSDK V2 ROS2 Wrapper
1. Overview
1.1. Introduction
1.1.1. Support Hardware Products
1.1.2. Support Platforms
1.2. Orbbec SDK Overview
1.2.1. Terms
1.2.2. Orbbec SDK v2 Architecture Overview
1.2.3. SDK Concept Overview
1.2.4. SDK Programming Model
2. Installation
2.1. Build from Source
2.1.1. Environment
2.1.2. Linux ROS2 Wrapper Compilation
2.2. Registration script (required)
3. Quickstarts
3.1. QuickStarts
3.1.1. Introduction
3.1.2. Build your First Camera Application
3.1.2.1. Step 1: Source ROS 2 and Workspace
3.1.2.2. Step 2: Launch the Camera Node
3.1.2.3. Step 3: Visualize in RViz2
3.1.3. Sample Features
3.1.3.1. List available topics / services/ parameters
3.1.3.2. Echo a topic
3.1.3.3. Call a service
3.1.3.4. Record with rosbag2
4. Application Guide
4.1. Launch parameters
4.1.1. Core & Stream Configuration
4.1.2. Sensor Controls
4.1.2.1. Color Stream
4.1.2.2. Depth Stream
4.1.2.3. IR Stream
4.1.2.4. Laser / LDP
4.1.3. Device, Sync & Advanced Features
4.1.3.1. Multi-Camera Synchronization
4.1.3.2. Network Cameras
4.1.3.3. Device-Specific
4.1.3.4. Disparity
4.1.3.5. Interleave AE Mode
4.1.4. Basic & General Parameters
4.1.4.1. Firmware & Backend
4.1.4.2. TF, Extrinsics & Calibration
4.1.4.3. Time Synchronization
4.1.4.4. Logging & Diagnostics
4.1.4.5. Miscellaneous
4.1.5. IMU
4.1.6. Depth Filters
4.2. All available services for camera control
4.2.1. Stream Control
4.2.1.1. Color Stream
4.2.1.2. Depth Stream
4.2.1.3. IR Stream
4.2.1.4. All Streams
4.2.2. Sensor & Emitter Control
4.2.3. Device Information & Management
4.2.4. Synchronization & Triggering
4.2.5. Depth Filter Configuration
4.2.6. Data Capture & Calibration Management
4.3. Available Topics
4.3.1. Image Streams
4.3.2. Point Cloud Topics
4.3.3. IMU Topics
4.3.4. Device Status & Diagnostics
4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems
4.5. Camera sensor structure
4.6. TF from coordinate A to coordinate B:
4.7. Compressed Image
4.8. Enabling and Visualizing Point Cloud in ROS 2
4.8.1. Enabling Depth Point Cloud
4.8.1.1. Command to Enable Depth Point Cloud
4.8.1.2. Visualizing Depth Point Cloud in RViz2
4.8.2. Enabling Colored Point Cloud
4.8.2.1. Command to Enable Colored Point Cloud
4.8.2.2. Visualizing Colored Point Cloud in RViz2
5. Advanced Guide
5.1. Performance & Optimization
5.1.1. Ob_benchmark tool
5.1.1.1. Tool Configuration (start_benchmark_params.json)
5.1.1.2. Camera configuration (launch files)
5.1.1.3. Running the ob_benchmark tool
5.1.1.4. Output Data Files
5.1.2. Reducing CPU Usage with Orbbec ROS Package
5.1.2.1. Recommended Settings for Lower CPU Usage
5.1.2.2. Launch Files Used for Testing
5.1.2.3. Test environment
5.1.2.4. Test Setup
5.1.2.5. Test Results
5.1.2.6. Further Optimizationa
5.1.3. Efficient intra-process communication:
5.1.3.1. Introduction
5.1.3.2. Example
5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2
5.1.4.1. Adjusting System Parameters
5.1.4.2. Fast DDS Configuration
5.2. Multi-Camera
5.2.1. Multi-Camera
5.2.1.1. No Data Stream from Multiple Cameras
5.2.1.2. Image topic frame rate too low from Multiple Cameras
5.2.2. Multi_camera synced Instructions
5.2.2.1. Setup instructions
5.2.2.2. Checking camera port with OrbbecSDK_ROS2
5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration
5.2.2.4. Run the following command to start the multi-camera synced
5.2.3. Multi_camera_synced_verification_tool
5.2.3.1. Directory Structure
5.2.3.2. Preparation for operation
5.2.3.3. Run this example
5.2.3.4. Files that need to be changed
5.2.4. GMSL_camera
5.2.4.1. Single GMSL camera
5.2.4.2. Multi GMSL camera
5.2.4.3. Multi GMSL camera synced
5.3. Configuration & Modes
5.3.1. Aligning Depth to Color in ROS 2
5.3.1.1. Commands to Align and View Depth and Color Images
5.3.1.2. Selecting Topics in RViz2
5.3.1.3. Example of Depth to Color Overlay
5.3.2. Configuration of depth NFOV and WFOV modes
5.3.3. Depth work mode switch
5.3.4. Disparity_search_offset
5.3.4.1. Function Introduction
5.3.4.2. Parameter Introduction
5.3.4.3. Run the launch
5.3.5. Using interleave_ae with Gemini330 series cameras
5.3.5.1. Parameter Introduction
5.3.5.2. Run the launch
5.3.5.3. Multi_camera_synced + Interleave_ae
5.3.6. Predefined presets
5.3.7. Net_camera
5.3.7.1. Femto Mega & Gemini 435Le
5.3.7.2. Gemini 335Le
5.3.7.3. Multi Net camera
6. Developer Guide
6.1. Building a Debian Package
6.1.1. Preparing the Environment
6.1.2. Configuring ROS Dependencies
6.1.3. Building the Package
7. Frequently Asked Questions
7.1. Unexpected Crash
7.2. No Data Stream from Multiple Cameras
7.3. Additional Troubleshooting
7.4. Why Are There So Many Launch Files?
OrbbecSDK V2 ROS2 Wrapper
4.
Application Guide
4.5.
Camera sensor structure
View page source
4.5.
Camera sensor structure
