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OrbbecSDK V2 ROS2 Wrapper
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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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</ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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</ul>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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</ul>
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</ul>
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<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
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<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core & Stream Configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync & Advanced Features</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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</ul>
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</li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">4.2. All available services for camera control</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#stream-control">4.2.1. Stream Control</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="#color-stream">4.2.1.1. Color Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="#depth-stream">4.2.1.2. Depth Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="#ir-stream">4.2.1.3. IR Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="#all-streams">4.2.1.4. All Streams</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#device-information-management">4.2.3. Device Information & Management</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.7. Compressed Image</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
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</ul>
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</li>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
|
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</ul>
|
|
</li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
|
|
</ul>
|
|
</li>
|
|
</ul>
|
|
</li>
|
|
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
|
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</ul>
|
|
</li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
|
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</ul>
|
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</li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
|
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</ul>
|
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</li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
|
|
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
|
|
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
|
|
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
|
|
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
|
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
|
|
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
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</ul>
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</li>
|
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
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<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
|
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<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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</ul>
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</li>
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</ul>
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</li>
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<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
|
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<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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<li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
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<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
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<li class="breadcrumb-item active"><span class="section-number">4.2. </span>All available services for camera control</li>
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<a href="../../_sources/source/4_application_guide/services.md.txt" rel="nofollow"> View page source</a>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="all-available-services-for-camera-control">
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<h1><span class="section-number">4.2. </span>All available services for camera control<a class="headerlink" href="#all-available-services-for-camera-control" title="Link to this heading"></a></h1>
|
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<blockquote>
|
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<div><p><strong>Note:</strong> Services related to a specific stream (e.g., <code class="docutils literal notranslate"><span class="pre">/camera/set_color_*</span></code>) are only available if that stream is enabled in the launch file (e.g., <code class="docutils literal notranslate"><span class="pre">enable_color:=true</span></code>).</p>
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</div></blockquote>
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<section id="stream-control">
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<h2><span class="section-number">4.2.1. </span>Stream Control<a class="headerlink" href="#stream-control" title="Link to this heading"></a></h2>
|
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<section id="color-stream">
|
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<h3><span class="section-number">4.2.1.1. </span>Color Stream<a class="headerlink" href="#color-stream" title="Link to this heading"></a></h3>
|
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<ul>
|
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_color</span></code></p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_color<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_color_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_color_gain</span></code></p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_color_exposure<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_color_gain<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_auto_exposure</span></code></p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
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</pre></div>
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</div>
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</li>
|
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_color_gain</span></code></p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_exposure<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 1}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_gain<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 64}'</span>
|
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</pre></div>
|
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_mirror</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_color_flip</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_color_rotation</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_mirror<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_flip<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_rotation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 180}'</span>
|
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</pre></div>
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</div>
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</li>
|
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_ae_roi</span></code></p>
|
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># data_param: [Left, Right, Top, Bottom]</span>
|
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_ae_roi<span class="w"> </span>orbbec_camera_msgs/srv/SetArrays<span class="w"> </span><span class="s1">'{data_param: [0,1279,0,719]}'</span>
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</pre></div>
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</div>
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</li>
|
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</ul>
|
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</section>
|
|
<section id="depth-stream">
|
|
<h3><span class="section-number">4.2.1.2. </span>Depth Stream<a class="headerlink" href="#depth-stream" title="Link to this heading"></a></h3>
|
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<ul>
|
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_depth</span></code></p>
|
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_depth<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
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</pre></div>
|
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</div>
|
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</li>
|
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_depth_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_depth_gain</span></code></p>
|
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_depth_exposure<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_depth_gain<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_auto_exposure</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_depth_gain</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_exposure<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 3000}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_gain<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 64}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_mirror</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_depth_flip</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_depth_rotation</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_mirror<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_flip<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_rotation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 180}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_ae_roi</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># data_param: [Left, Right, Top, Bottom]</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_ae_roi<span class="w"> </span>orbbec_camera_msgs/srv/SetArrays<span class="w"> </span><span class="s1">'{data_param: [0,847,0,479]}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="ir-stream">
|
|
<h3><span class="section-number">4.2.1.3. </span>IR Stream<a class="headerlink" href="#ir-stream" title="Link to this heading"></a></h3>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_ir</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_ir<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_ir_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_ir_gain</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ir_exposure<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ir_gain<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_auto_exposure</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_ir_gain</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_exposure<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 3000}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_gain<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 64}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/switch_ir</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/switch_ir<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">'{data: left}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="all-streams">
|
|
<h3><span class="section-number">4.2.1.4. </span>All Streams<a class="headerlink" href="#all-streams" title="Link to this heading"></a></h3>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_streams_enable</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_streams_enable</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_streams_enable<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">'{}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_streams_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: false}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
</section>
|
|
<section id="sensor-emitter-control">
|
|
<h2><span class="section-number">4.2.2. </span>Sensor & Emitter Control<a class="headerlink" href="#sensor-emitter-control" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_auto_white_balance</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_auto_white_balance</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_auto_white_balance<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_auto_white_balance<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_white_balance</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_white_balance</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_white_balance<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 2800}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_white_balance<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_laser_enable</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_laser_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ldp_enable</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_ldp_status</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ldp_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ldp_status<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_fan_work_mode</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_fan_work_mode<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 0}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_floor_enable</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_floor_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="device-information-management">
|
|
<h2><span class="section-number">4.2.3. </span>Device Information & Management<a class="headerlink" href="#device-information-management" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_device_info</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_sdk_version</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_sdk_version<span class="w"> </span>orbbec_camera_msgs/srv/GetString
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/reboot_device</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/reboot_device<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="synchronization-triggering">
|
|
<h2><span class="section-number">4.2.4. </span>Synchronization & Triggering<a class="headerlink" href="#synchronization-triggering" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/send_software_trigger</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/send_software_trigger<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
<span class="sb">```</span>*<span class="w"> </span><span class="sb">`</span>/camera/set_reset_timestamp<span class="sb">`</span>
|
|
<span class="sb">```</span>bash
|
|
<span class="c1"># Only available when time_domain param is set to device</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_reset_timestamp<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_sync_interleaverlaser</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Only available if interleave_ae_mode is 'laser' and interleave_frame_enable is true</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_sync_interleaverlaser<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 0}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="depth-filter-configuration">
|
|
<h2><span class="section-number">4.2.5. </span>Depth Filter Configuration<a class="headerlink" href="#depth-filter-configuration" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_filter</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Set DecimationFilter</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'</span>
|
|
<span class="c1"># Set SpatialAdvancedFilter</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="data-capture-calibration-management">
|
|
<h2><span class="section-number">4.2.6. </span>Data Capture & Calibration Management<a class="headerlink" href="#data-capture-calibration-management" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_images</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/save_images<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_point_cloud</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/save_point_cloud<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
<blockquote>
|
|
<div><p><strong>Note</strong>: The following services are currently supported only on the 435Le module. Each service can store only one set of data or string at a time.</p>
|
|
</div></blockquote>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/write_customer_data</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/read_customer_data</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/write_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">'{data: "string"}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/read_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/GetString<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_user_calib_params</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_user_calib_params</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/SetUserCalibParams<span class="w"> </span><span class="se">\</span>
|
|
<span class="s1">'{k: [614.9613647460938, 0.0, 634.91552734375,</span>
|
|
<span class="s1"> 0.0, 614.65771484375, 391.407470703125,</span>
|
|
<span class="s1"> 0.0, 0.0, 1.0],</span>
|
|
<span class="s1"> d: [-0.03131488710641861,</span>
|
|
<span class="s1"> 0.032955970615148544,</span>
|
|
<span class="s1"> 9.096559369936585e-05,</span>
|
|
<span class="s1"> -0.0003368517500348389,</span>
|
|
<span class="s1"> -0.01115430984646082,</span>
|
|
<span class="s1"> 0.0, 0.0, 0.0],</span>
|
|
<span class="s1"> rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,</span>
|
|
<span class="s1"> -0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,</span>
|
|
<span class="s1"> 0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],</span>
|
|
<span class="s1"> translation: [-0.023897956848144532,</span>
|
|
<span class="s1"> -9.439220279455185e-05,</span>
|
|
<span class="s1"> -6.804073229432106e-06]}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/GetUserCalibParams<span class="w"> </span><span class="s1">'{}'</span>
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