OrbbecSDK V2 ROS2 Wrapper documentation

• 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
    • 3.1.3. Sample Features
• 4. Application Guide
  • 4.1. Launch parameters
    • 4.1.1. Core & Stream Configuration
    • 4.1.2. Sensor Controls
    • 4.1.3. Device, Sync & Advanced Features
    • 4.1.4. Basic & General Parameters
    • 4.1.5. IMU
    • 4.1.6. Depth Filters
  • 4.2. All available services for camera control
    • 4.2.1. Stream Control
    • 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
  • 5.3. 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
  • 5.8. Fast DDS Optimization for Orbbec Camera with ROS2
    • 5.8.1. Adjusting System Parameters
    • 5.8.2. Fast DDS Configuration
  • 5.9. GMSL_camera
    • 5.9.1. Single GMSL camera
    • 5.9.2. Multi GMSL camera
    • 5.9.3. Multi GMSL camera synced
  • 5.10. Using interleave_ae with Gemini330 series cameras
    • 5.10.1. Parameter Introduction
    • 5.10.2. Run the launch
    • 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
    • 5.11.4. Test Setup
    • 5.11.5. Test Results
    • 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
  • 5.14. Multi_camera_synced_verification_tool
    • 5.14.1. Directory Structure
    • 5.14.2. Preparation for operation
    • 5.14.3. Run this example
    • 5.14.4. Files that need to be changed
  • 5.15. Net_camera
    • 5.15.1. Femto Mega & Gemini 435Le
    • 5.15.2. Gemini 335Le
    • 5.15.3. Multi Net camera
  • 5.16. Enabling and Visualizing Point Cloud in ROS 2
    • 5.16.1. Enabling Depth Point Cloud
    • 5.16.2. Enabling Colored Point Cloud
  • 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?