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84 lines
2.4 KiB
Markdown
84 lines
2.4 KiB
Markdown
## Starting the Camera Node in ROS 2
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This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS 2.
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### Command to Start the Node
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To start the camera node, execute the following command in your terminal:
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
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```
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This command initiates the camera node and enables the colored point cloud.
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### Published Topics
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Once the camera node is running, it will publish data on several ROS topics. Below is a list of the available topics:
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- **IMU Data and IMU Information:**
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- `camera/accel/imu_info`
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- `camera/gyro/imu_info`
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- `camera/gyro_accel/sample`
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- **Color Camera Topics:**
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- `/camera/color/camera_info`
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- `/camera/color/image_raw`
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- `/camera/color/image_raw/compressed`
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- `/camera/color/image_raw/compressedDepth`
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- `/camera/color/image_raw/theora`
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- `/camera/color/metadata`
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- **Depth Camera Topics:**
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- `/camera/depth/camera_info`
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- `/camera/depth/image_raw`
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- `/camera/depth/image_raw/compressed`
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- `/camera/depth/image_raw/compressedDepth`
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- `/camera/depth/image_raw/theora`
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- `/camera/depth/metadata`
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- `/camera/depth/points`
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- `/camera/depth_filter_status`
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- `/camera/depth_registered/points`
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- `/camera/depth_to_color`
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- `/camera/depth_to_left_ir`
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- `/camera/depth_to_right_ir`
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- **Infrared Camera Topics:**
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- `/camera/left_ir/camera_info`
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- `/camera/left_ir/image_raw`
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- `/camera/left_ir/image_raw/compressed`
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- `/camera/left_ir/image_raw/compressedDepth`
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- `/camera/left_ir/image_raw/theora`
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- `/camera/left_ir/metadata`
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- `/camera/right_ir/camera_info`
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- `/camera/right_ir/image_raw`
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- `/camera/right_ir/image_raw/compressed`
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- `/camera/right_ir/image_raw/compressedDepth`
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- `/camera/right_ir/image_raw/theora`
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- `/camera/right_ir/metadata`
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- **Miscellaneous Topics:**
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- `/diagnostics`
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- `/parameter_events`
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- `/rosout`
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- `/rosout_agg`
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### Visualizing Data in RViz2
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To view the PointCloud or Image data, use RViz2:
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1. Launch RViz2.
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2. Select the topic you wish to visualize from the list of published topics.
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3. Add the selected topic to RViz2 to start viewing the data.
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### Example Visualizations
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Here are examples of how the visualization might appear in RViz2:
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- **PointCloud Visualization**
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- **Image Data Visualization**
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