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https://github.com/orbbec/OrbbecSDK_ROS2.git
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92 lines
1.9 KiB
Plaintext
92 lines
1.9 KiB
Plaintext
## ROS Package QuickStarts
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### Introduction
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This section provides a quick start to using the Orbbec ROS 2 wrapper.
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You will learn how to:
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* Launch a camera node.
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* Visualize depth/color streams in **RViz2**.
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* Interact with topics and services using **ROS 2 CLI tools**.
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---
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### Build your First Camera Application
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#### Step 1: Source ROS 2 and Workspace
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Make sure ROS 2 and your workspace environment are sourced:
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```bash
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source /opt/ros/$ROS_DISTRO/setup.bash
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source ~/ros2_ws/install/setup.bash
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```
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#### Step 2: Launch the Camera Node
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- On terminal 1
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```bash
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. ./install/setup.bash
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ros2 run orbbec_camera list_devices_node #Check if the camera is connected
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ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table
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```
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If you have multiple cameras connected, you can specify the **serial number**:
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```bash
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ros2 launch orbbec_camera gemini_330_series.launch.py serial_number:=<YourCameraSN>
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```
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#### Step 3: Visualize in RViz2
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Launch RViz2 and load the default config:
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- On terminal 2
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```bash
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rviz2
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```
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* Add an **Image** display, set topic to `/camera/color/image_raw`.
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* Add another **Image** display for `/camera/depth/image_raw`.
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* Optionally, add a **PointCloud2** display for `/camera/depth/points`.
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You should now see the color stream, depth stream, and 3D point cloud in RViz2.
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---
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### Sample Features
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After the node is running, try some ROS 2 CLI commands:
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#### List available topics / services/ parameters
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```bash
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ros2 topic list
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ros2 service list
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ros2 param list
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```
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#### Echo a topic
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View depth camera data:
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```bash
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ros2 topic echo /camera/depth/camera_info
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```
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#### Call a service
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For example, get device Information:
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```bash
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ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '{}'
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```
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#### Record with rosbag2
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```bash
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ros2 bag record /camera/color/image_raw /camera/depth/image_raw
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```
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