OrbbecSDK_ROS2/orbbec_camera/examples/start_camera_node

Starting the Camera Node in ROS 2

This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS 2.

Command to Start the Node

To start the camera node, execute the following command in your terminal:

ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true enable_d2c_viewer:=true enable_right_ir:=true enable_left_ir:=true enable_sync_output_accel_gyro:=true enable_accel:=true enable_gyro:=true

This command initiates the camera node and enables the colored point cloud.

Published Topics

Once the camera node is running, it will publish data on several ROS topics. Below is a list of the available topics:

• IMU Data and IMU Information:

  • camera/accel/imu_info
  • camera/gyro/imu_info
  • camera/gyro_accel/sample

• Color Camera Topics:

  • /camera/color/camera_info
  • /camera/color/image_raw
  • /camera/color/image_raw/compressed
  • /camera/color/image_raw/compressedDepth
  • /camera/color/image_raw/theora
  • /camera/color/metadata

• Depth Camera Topics:

  • /camera/depth/camera_info
  • /camera/depth/image_raw
  • /camera/depth/image_raw/compressed
  • /camera/depth/image_raw/compressedDepth
  • /camera/depth/image_raw/theora
  • /camera/depth/metadata
  • /camera/depth/points
  • /camera/depth_filter_status
  • /camera/depth_registered/points
  • /camera/depth_to_color
  • /camera/depth_to_left_ir
  • /camera/depth_to_right_ir

• Infrared Camera Topics:

  • /camera/left_ir/camera_info
  • /camera/left_ir/image_raw
  • /camera/left_ir/image_raw/compressed
  • /camera/left_ir/image_raw/compressedDepth
  • /camera/left_ir/image_raw/theora
  • /camera/left_ir/metadata
  • /camera/right_ir/camera_info
  • /camera/right_ir/image_raw
  • /camera/right_ir/image_raw/compressed
  • /camera/right_ir/image_raw/compressedDepth
  • /camera/right_ir/image_raw/theora
  • /camera/right_ir/metadata

• Miscellaneous Topics:

  • /diagnostics
  • /parameter_events
  • /rosout
  • /rosout_agg

Visualizing Data in RViz2

To view the PointCloud or Image data, use RViz2:

1. Launch RViz2.
2. Select the topic you wish to visualize from the list of published topics.
3. Add the selected topic to RViz2 to start viewing the data.

Example Visualizations

Here are examples of how the visualization might appear in RViz2:

• PointCloud Visualization
• Image Data Visualization