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
5. Advanced Guide
5.1. Aligning Depth to Color in ROS 2
5.1.1. Commands to Align and View Depth and Color Images
5.1.2. Selecting Topics in RViz2
5.1.3. Example of Depth to Color Overlay
5.2. Ob_benchmark tool
5.2.1. Usage Instructions
5.2.1.1. Tool Configuration (start_benchmark_params.json)
5.2.1.2. Camera configuration (launch files)
5.2.1.3. Running the ob_benchmark tool
5.2.1.4. Output Data Files
5.3. Building a Debian Package
5.3.1. Preparing the Environment
5.3.2. Configuring ROS Dependencies
5.3.3. Building the Package
5.4. Configuration of depth NFOV and WFOV modes
5.5. Depth work mode switch
5.6. Disparity_search_offset
5.6.1. Function Introduction
5.6.2. Parameter Introduction
5.6.3. Run the launch
5.7. Efficient intra-process communication:
5.7.1. Example
5.7.1.1. Manually loading multiple components into the same process
5.7.1.2. Using a launch file
5.7.1.3. Limitations
5.8. Fast DDS Optimization for Orbbec Camera with ROS2
5.8.1. Adjusting System Parameters
5.8.1.1. IP Fragmentation Time
5.8.1.2. IP Fragmentation Memory Threshold
5.8.1.3. Maximum Buffer Sizes
5.8.2. Fast DDS Configuration
5.8.2.1. Configuration File:
shm_fastdds.xml
5.8.2.2. Environment Variables
5.9. GMSL_camera
5.9.1. Single GMSL camera
5.9.2. Multi GMSL camera
5.9.3. Multi GMSL camera synced
5.9.3.1. Additional Parameter Settings
5.9.3.2. Run the launch
5.10. Using interleave_ae with Gemini330 series cameras
5.10.1. Parameter Introduction
5.10.1.1. interleave hdr
5.10.1.2. interleave laser
5.10.2. Run the launch
5.10.2.1. Example Visualization
5.10.3. Multi_camera_synced + Interleave_ae
5.11. Reducing CPU Usage with Orbbec ROS Package
5.11.1. Recommended Settings for Lower CPU Usage
5.11.2. Launch Files Used for Testing
5.11.3. Test environment
5.11.3.1. Hardware Configuration
5.11.3.2. ROS Configuration
5.11.3.3. Camera Setup
5.11.4. Test Setup
5.11.5. Test Results
5.11.5.1.
uvc_backend
Comparison (RGB format)
5.11.5.2.
color_format
Comparison (MJPG vs RGB)
5.11.5.3. Filter Configuration Impact
5.11.6. Further Optimizationa
5.12. Multi-Camera
5.12.1. No Data Stream from Multiple Cameras
5.12.2. Image topic frame rate too low from Multiple Cameras
5.13. Multi_camera synced Instructions
5.13.1. Setup instructions
5.13.1.1. Checking camera port with OrbbecSDK_ROS2
5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration
5.13.1.3. Run the following command to start the multi-camera synced
5.14. Multi_camera_synced_verification_tool
5.14.1. Directory Structure
5.14.1.1. multicamera_sync
5.14.1.1.1. output
5.14.1.1.2. Python
5.14.2. Preparation for operation
5.14.2.1. save_rgbir node
5.14.2.2. DevicesInfo.txt
5.14.2.3. Config.ini
5.14.3. Run this example
5.14.3.1. Run launch and save camera pictures
5.14.3.2. Camera pictures naming format
5.14.3.3. Analyzing camera image data
5.14.4. Files that need to be changed
5.14.4.1. Analysis tools
5.14.4.2. Camera Configuration
5.15. Net_camera
5.15.1. Femto Mega & Gemini 435Le
5.15.1.1. Parameter Introduction
5.15.1.2. Single Net camera
5.15.2. Gemini 335Le
5.15.2.1. Single Net camera
5.15.3. Multi Net camera
5.16. Enabling and Visualizing Point Cloud in ROS 2
5.16.1. Enabling Depth Point Cloud
5.16.1.1. Command to Enable Depth Point Cloud
5.16.1.2. Visualizing Depth Point Cloud in RViz2
5.16.2. Enabling Colored Point Cloud
5.16.2.1. Command to Enable Colored Point Cloud
5.16.2.2. Visualizing Colored Point Cloud in RViz2
5.17. Predefined presets
6. Frequently Asked Questions
6.1. Unexpected Crash
6.2. No Data Stream from Multiple Cameras
6.3. Additional Troubleshooting
6.4. Why Are There So Many Launch Files?
OrbbecSDK V2 ROS2 Wrapper
Index
Index