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
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© Copyright 2025, ORBBEC INC. www.orbbec.com.. Last updated on 2025-09-15 06:27:18.